การควบคุมตำแหน่งของหุ่นยนต์แบบเดลต้าด้วยสัญญาณป้อนกลับจากแขน

• Main Author: จารุบุตร คณะนัย
• Other Authors: รัชทิน จันทร์เจริญ
• Format: Theses and Dissertations
• Language: Thai
• Published: จุฬาลงกรณ์มหาวิทยาลัย 2013
• Subjects: หุ่นยนต์ > การออกแบบ; จลนศาสตร์; หุ่นยนต์ > การควบคุม; Robots > Design; Kinematics; Robots > Control; ปริญญาดุษฎีบัณฑิต
• Online Access: https://digiverse.chula.ac.th/Info/item/dc:42656
• Institution: Chulalongkorn University

A Delta robot is a symmetric parallel robot with excellent precision and speed for pick-place manipulation task. This robot draws much attention from both institutes and industries. However, the position of its end tip is inaccurately determined via the robot forward kinematics, developed based on the model with the assumption that the robot is symmetric. The calibration was used only to determine the actual lengths for all the links but not corrected the geometrical error of the robot, including axis misalignment, link’s unsymmetrical length and offset. These results in inaccurate position control even the robot is precise. This dissertation proposed a technique to enhance the accuracy of the Delta robot using the USB camera installed at the end tip. The robot position will be accurately controlled even its kinematics model is inaccurate. The position based visual servoing technique was used to correct the position which determined using robot’s kinematic. Image Jacobian was implemented in this regard to determine the correct position of the end tip in order to verify the performance of the proposed technique. Several experiments are used to demonstrate the performance of the proposed technique. These include the FDM 3D printing case that uses the Delta robot to lay the plastic on a plane. The result shows that the accuracy is significantly improved with the position corrected from the feedback from the camera. In the conclusion, the proposed technique was shown to be more accuracy.