摘要
为了提高Delta机器人动态抓取的精度与速度,提出了一种基于欧姆龙NJ控制器的Delta机器人控制系统。通过采用欧姆龙NJ运动控制器和EtherCAT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,实现一体化控制。同时为了提高抓取效率,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,进而提出一种动态的抓取算法,实现了机器视觉与机器人动态抓取的完美结合。通过对样机进行测试表明:该Delta机器人在分拣与跟踪目标过程中漏抓率小于2%,误抓率为0,表明该系统能够达到抓取系统的实时性要求,在实际工程中具有一定的应用价值。
In order to improve the accuracy and speed of dynamic grasping of Delta robot,a Delta robot control system based on OMRON NJ controller is proposed.Through the use of OMRON NJ motion controller and EtherCAT high-speed bus,the Delta robot s motion control and external motion logic control were seamlessly connected,and the integrated control was realized.In order to improve the grasping efficiency,the Delta robot vision system was used to identify the position of the grabbing target and to remove the repeated image information.Then a dynamic grabbing algorithm was proposed to realize the perfect combination of machine vision and robot dynamic grabbing.Finally,the test of the prototype shows that the leakage rate of the Delta robot in the process of sorting and tracking target is less than 2%,and the error rate is 0.It shows that the system can meet the real-time requirements of the grasping system and has a certain application value in the actual project.
作者
郝大孝
舒志兵
孙学
HAO Daxiao;SHU Zhibing;SUN Xue(School of Electrical Engineering and Control Science,Nanjing Tech University,Nanjing Jiangsu 211800,China)
出处
《机床与液压》
北大核心
2019年第17期36-42,共7页
Machine Tool & Hydraulics
作者简介
通信作者:郝大孝(1992-),男,硕士研究生,研究方向为伺服运动控制与工业机器人。E-mail:569414802@qq.com。
