Delta parallel robot workspace and dynamic trajectory tracking of delta parallel robot

Prempraneerach, Pradya

doi:10.1109/icsec.2014.6978242

Cited by 8 publications

(7 citation statements)

References 5 publications

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“…Several challenges in the delta-robot design phase were must be overcome. For example, analysis of delta-robot workspace and singularity [14], [15] were more complex to identify than those of the serial manipulator, thus the inverse kinematics could assist in computation of the delta robot workspace [16]. A trade-off among performance constraints, prescribed workspace, structural kinematics, and joint torque requirement, et.…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Yamtuan,

Radomngam,

Prempraneerach

2023

Journal of Robotics and Control

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Industrial delta robots with motion-and vision-base controllers, providing high-precision and fast/flexible motion, normally come with high cost and complex software. Low-cost delta robots with vision solution could be beneficial to vast industries to increase productivity and to reduce labor cost. A delta robot using a low-cost motion controller and an open-source vision system is developed to accomplish real-time visual servoing with high motion accuracy. In the low-cost motion controller, three parallel links’ upper-arm angles, computed from inverse kinematics for a given desired target position by a high-level computer, are used as reference position commands for three AC-motor drives. A low-level Arduino microcontroller is employed to convert these links’ angles to high-frequency pulses and on-off signals for synchronously controlling three motor angles and direction. Experimental results of a point-to-point motion tracking exhibit high-precision repeatability. Synchronous pulse generation from Arduino microcontroller and structural misalignments of parallel links are major challenges for achieving high motion accuracy. For the vision-based system, the YOLOv5 algorithm is implemented along with a Python GUI Application. Then, the visual-servo performance is evaluated on localization accuracy and recognition rate of 3-color objects. However, a partial object occlusion can reduce the visual classification rate. A sorting task of 4-category medicine boxes demonstrate a high-speed pick-and-place operation using the low-cost visual-servo system of this delta robot. Therefore, integration of low-cost visual servoing with this delta robot can revolutionize various industries, like automobile, pharmaceutical, and food sectors, in separating, sorting and packing applications.

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Section: Introductionmentioning

confidence: 99%

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Yamtuan,

Radomngam,

Prempraneerach

2023

Journal of Robotics and Control

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“…The most common control method for trajectory tracking on Delta robot is to use PID controller. To maximize appropriate workspace, Pradya Prempraneerach has researched and proposed the mechanical structure of Delta robot and using the traditional PID controller to tracking trajectory of the robot [3]. Sheng Jian et al modeled the PMSM motor and used PID to control the motion of PMSM motor at three actuator joints of Delta robot [4], the gains of PID controller were set manual.…”

Section: Introductionmentioning

confidence: 99%

Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application

Bach¹,

Quan²,

Trung³

2021

J. vibroeng.

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This research presents an optimal trajectory tracking control method for improving the accuracy of 3-DOF translational parallel robots in the surgery field based on the Particle Swarm Optimization (PSO) method. The 3-DOF translational robot has three translational degrees of freedom, which consists of three arms with three revolute joints and twelve spherical joints. Firstly, the kinematics model is established; and the dynamics equation of the Robot is built by applying the Lagrange equation of the first type, and then the dynamics controller of 3-DOF translational robot is designed base on the dynamics equations. Secondly, a trajectory tracking controller model using the Particle Swarm Optimization based on inverse dynamics controlled method for 3-DOF translational Robot is designed. The control performance results of the proposed controller is evaluated by simulation and compared with the other published research results. Finally, the proposed controller can achieve better tracking performance in comparison with other controllers as Proportional Integral Derivative (PID) controller, GPI controller, and adaptive controller.

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“…During recent years, worldwide miniaturization through manufacturing technology has brought improvements in product performance, and countries around the world have been competing to invest huge resources and manpower in the development of the mechatronic engineering industry. The most promising apparatus in the industry are robot mechanisms with intelligent controllers (He et al, 2017; Kunze et al, 2018; Vazquez-Santacruz et al, 2019), and parallel three-axis robotic arms especially characterize increasing load capacity and simplifying workspace within a limited region (Heiran et al, 2017; Mazare and Taghizadeh, 2019; Prempraneerach, 2014). Those industrial parallel robotic arm mechanisms widely practice for handling objects with advanced control strategies (Boudjedir et al, 2018, 2020; Jian and Lou, 2017).…”

Section: Introductionmentioning

confidence: 99%

Development of a control architecture for a parallel three-axis robotic arm mechanism using CANopen communication protocol

Lee

Lin

Chen

et al. 2021

Concurrent Engineering

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Based upon the CANopen communication protocol and the LabVIEW graphic programing procedures, this paper develops a closed-loop control architecture for a parallel three-axis (Delta) robotic arm mechanism. The accomplishments include prototyping a parallel three-axis robotic arm mechanism, assembling servomotors with associated encoders and gearsets, coding CANopen communication scripts for servomotor controllers and a host supervision GUI, coding forward/inverse kinematics scripts to compute the required servomotor rotations and the coordinates of a movable platform or the mechanism, coding tracking error compensation scripts for effective closed-loop griper control, and coding integration scripts to command and supervise the mechanism motion on the LabVIEW-based host GUI. During the development stage, this research designed and prototyped the parallel three-axis robotic arm mechanism based upon basic Delta robot kinematics. To control the mechanism effectively and accurately, this study implemented the CANopen communication protocol, which characterizes high speed and stable transmission. The protocol applies to the CANopen communication channels among the controllers and the host supervision GUI. On the LabVIEW development platform, the coded supervision GUI performs issuing/receiving messages to the CANopen-based controllers. The controllers excite the servomotors and actuate the parallel mechanism to track prescribed trajectories in a closed-loop control fashion. Meanwhile, an electromagnet attached to the movable platform of the robotic mechanism performs satisfactory picking/placing object actions.

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Delta parallel robot workspace and dynamic trajectory tracking of delta parallel robot

Cited by 8 publications

References 5 publications

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application

Development of a control architecture for a parallel three-axis robotic arm mechanism using CANopen communication protocol

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