This paper focus on the trajectories planning for Delta robot, which is used to dynamic tracking, pick and place workpiece on packing line. According to the practical action requirements, defined the desired path for end actuator in Cartesian space. The control trajectories are divided into several line segments. For each section, the control points are calculated with the modified sine computing terminal trajectory. To tracking the workpiece on conveyor, a mathematical models is developed to describe the target position and limitation of robot hardware. Newton's method is adopt to solve the model. Through calculating the right angle coordinate system of key points with inverse kinematic in joint space, generating a feasible motion control track. A demo trajectory is generated to verify the feasibility of the scheme.

Yarn breaking is one of the most common problems in textile weaving. Focus on this problem this paper proposed capacitance based detecting-circuit to sense the status of yarn. The sensor adopts a capacitance sensor to detect the yarn on weaving machine. The yarn breaking will lead the little change in electric capacity. To detect the yarn status, Design a 555 based frequency generator circuit with capacitance sensor as one of the input. The pulse generated form 555 circuit is transmitted to MCU, MCU analysis of frequency changes to judge whether the yarn is broken and send relative control signals and location information of yarn breakage to HMI.

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This paper proposed the floating thread defect detection method base on wavelet entropy for tufted carpet. The method first get the image from cam and preprocesses the captured image with filtering, then using Wavelet Entropy to judge whether there are defects in the image. For image consist of defects, apply further thresholding operation to the image. Closing operation was adopted to eliminate noise and highlight the defects. At last, nine samples image were tested to verify the feasibility of proposed method.

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