Dynamic Conveyor Tracking Control of a Delta Robot

Guo Ying Zhang; Guan Feng Liu; Xiao Bin Guo; Xie Yuan Lin

doi:10.4028/www.scientific.net/KEM.679.43

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Solution Concentration Affected Wavy Fibers Fabrication via Auxiliary Electrodes in Near-Field Electrospinning
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Finite Element Simulation about Abrasive Belt Grinding Silicon Carbide
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Modeling of the Positioning Error in Ultra-Precision Machine Tools
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Development of CNC System Software for Micro V-Groove Machine Tool
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Dynamic Conveyor Tracking Control of a Delta Robot
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From Shape to Feature - A Novel Structural Design Idea for Dynamic Feature Adjustable Micro Motion Stages Based on Tension Stiffening
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Optimal Structural Design of Micro-Motion Stage with Stiffness Constraints Using Topology and Sizing Optimization Method
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Research on Deposition Characteristics of the Double-Nozzle in Near-Field Electrospinning
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An Investigation on Multi-Nozzle near Field Electrospinning: Experimentation and Simulation
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HomeKey Engineering MaterialsKey Engineering Materials Vol. 679Dynamic Conveyor Tracking Control of a Delta Robot

Dynamic Conveyor Tracking Control of a Delta Robot

Abstract:

For general dynamic pick and place tasks that the objects are transferred with high speed by the conveyor belt, the capability of a delta robot to track the traveling objects is very important for the efficiency. To meet the needs of precision and smooth control, a computed-torque control scheme for conveyor tracking is implemented in this paper. For higher efficiency and accuracy, computer vision system, encoder and conveyor belt region are incorporated into the control scheme. Dividing the conveyor belt into three regions, the robot is commanded to track, pick and give up according to the subregions. Conveyor belt is equipped with an encoder that provides the controller with real-time position and speed of the belt. Based upon those informations, the controller automatically compensates the end positions with respect to the belt to adjust for the position of the conveyor. Then, the conveyor tracking problem is converted to a subregional tracking problem.

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Periodical:

Key Engineering Materials (Volume 679)

Pages:

43-48

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.679.43

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Online since:

February 2016

Authors:

Guo Ying Zhang*, Guan Feng Liu, Xiao Bin Guo, Xie Yuan Lin

Keywords:

Conveyor Belt Region, Delta Robot, Dynamic Tracking, Encoder, Precision, Smooth, Torque Control, Vision System

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