In the present paper, a control-based design methodology is developed in order to create a DELTA robot with the best accuracy performance for a dedicated controller. The proposed control-based design methodology takes into account the accuracy performance of the controller in the design process to get the optimal geometric parameters of the robot. Three types of controllers are envisaged for the control of the motions of the DELTA robot: leg-direction-based visual servoing, line-based visual servoing and image moment visual servoing. Based on these three controllers, positioning error models taking into account the error of observation coming from the camera are developed. Then, design optimization problems are formulated in order to find the optimal geometric parameters and camera placement for the DELTA robot for each type of controller. Co-simulations of the robots optimized for the three types of controllers are finally performed in order to check the accuracy performance of the three robots.

In this paper, a parallel Image-based visual servoing/force controller is developed in order to solve the interaction problem between the collaborative robot and the environment so that the robot can track the position trajectory and the desired force at the same time. This control methodology is based on the image-based visual servoing (IBVS) dynamic computed torque control and couples the force control feedback in parallel. Simulations are performed on a collaborative Delta robot and two types of image features are tested to determine which one is better for this parallel IBVS/force controller. The results show the efficiency of this controller.

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