基于NJ运动控制器的Delta机器人动态抓取控制系统设计

Design of Dynamic Grab Control System for Delta Robot Based on NJ Motion Controller

为了提高Delta机器人动态抓取的精度和速度,设计了一种基于NJ运动控制器的Delta机器人抓取控制系统。通过采用欧姆龙NJ运动控制器和Ether CAT内部高速总线将Delta机器人的运动控制和外部运动逻辑控制进行无缝对接,实现了一体化控制。同时,利用Delta机器人视觉系统识别抓取目标的位置,去掉重复图像信息,进而提出了一种动态的抓取算法,实现机器视觉与机器人动态抓取的完美结合。最后,通过实验结果表明:该抓取系统精准度高、速度快、稳定性强。

In order to improve the precision and the speed of dynamic grabbing of Delta robot,a Delta robot grab control system based on NJ motion controller was designed.By using the Omron NJ motion controller and the EtherCAT internal high-speed bus,the Delta robot’s motion control and external motion logic control are seamlessly connected to achieve integrated control.At the same time,using the Delta robot vision system to identify the position of the capture target,remove the duplicate image information,and then propose a dynamic capture algorithm to achieve the perfect combination of machine vision and robot dynamic capture.Finally,the experimental results show that the grab control system has high precision,high speed,and strong stability.