Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

Michelin, Micaël; Hervé, Pierre Elie; Tempier, Olivier; Izard, Jean Baptiste; Gouttefarde, Marc

doi:10.1007/978-3-030-75789-2_26

Cited by 3 publications

(2 citation statements)

References 17 publications

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“…In the first experiment, the motion accuracy of this delta robot was evaluated from a point-to-point movement among eight different positions on the conveyor-belt surface, where the z-direction was fixed at a distance -528 mm from the base plate. An end-effector position discrepancy between the position command and the measured position using the laser pointer is defined in (6).…”

Section: A Point-to-point Tracking Accuracymentioning

confidence: 99%

“…Generally, they can be programmed to perform repetitive and compound motions [1] with different payloads [2] and variable speeds [3] according to various task specifications. Industrial robots; such as serial-link manipulator [3], delta robots [4], hybrid robot [5], [6], flexible manipulator [2], [7] have been continuously researched and improved on different aspects of their capabilities, including wider working areas, high-speed movement, and flexible manipulations.…”

Section: Introductionmentioning

confidence: 99%

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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: A Point-to-point Tracking Accuracymentioning

confidence: 99%