摘要
为了提高Delta机器人在自动化拾取作业中的控制精度、速度及系统的实时性和可靠性,提出基于欧姆龙Sysmac自动化平台对Delta机器人控制系统进行设计,采用NJ系列机器人控制器和控制用高速网络EtherCAT,将机器人的运动控制和周边运动的逻辑控制进行统一,实现一体化控制,并通过视觉系统判断抓取对象的位置偏差,实现精确定位,展现机器人与视觉系统的完美配合。验证工作基于Delta机器人的动态抓取实验平台展开,顺利地完成了"检测—跟踪—抓取—搬运"实验,实验结果充分证明了方案的可行性。
In order to improve the control precision and speed of Delta robot, improve the real-time performance and reliability of the system in automated picking operations, a control system design of Delta robot was proposed using Omron Sysmac automation plat- form. With the application of NJ series robotics controller and high-speed control network EtberCAT, the system was unified of the mo- tion control of robot and the logic control of surrounding movements to achieve integrated control. By using visual system to determine the position deviation of grasp objects, the precise positioning was also realized, and the perfect fit between robot and visual system was shown. Validation work, which was based on experimental platform for dynamic grasping of Delta robot, successfully completed the ex- periment of detecting, tracking, grasping and moving. The experimental results demonstrate the feasibility of the proposed soIution.
出处
《机床与液压》
北大核心
2017年第3期1-5,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(51179076)
江苏省科技支撑项目(BE2013009)
