Development of a Direct Pose Feedback Controlled Delta Robot

• Main Authors: Kao,Pao-Heng, 高寶珩
• Other Authors: Lei, Wei-Tai
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/ngzy72

碩士 === 國立清華大學 === 動力機械工程學系 === 103 === The aim of this thesis is to study the performance of a Delta robot using the Motion Measure Device (MMD) as the pose sensor for the direct feedback control. The MMD is a six degrees of freedom measuring device which can measure the relative pose between tool and the work piece. To install the MMD on Delta robot, a new quartz upper plate is designed. The error sensitivity and workspace of the MMD are analyzed in design process. In direct pose feedback control using the MMD, three kinds of control methods are tested in the thesis. The first control method is “Direct Observation method”, which use the angle calculated by using the measured result from MMD for the Delta inverse kinematic transformation instead of the encoder. The second is the “Set Point Shift method”, which detects the difference between the angle calculated by using tool pose measured by the MMD for the Delta inverse kinematic transformation and the encoder values and use it as offset for setting point. The third is the “Hybrid Control method”, which switches between the mentioned methods in different situations. All three feedback control methods can enhance the positioning and motion accuracy dramatically.