Design of delay compensation system for visual tracking control of industrial robots

Xingwen Gu

doi:10.1117/12.3030639

5 June 2024 Design of delay compensation system for visual tracking control of industrial robots

Xingwen Gu

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131638O (2024) https://doi.org/10.1117/12.3030639
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

In order to improve the robot grasping accuracy, the industrial robot visual tracking control system is designed based on the time delay compensation mechanism. The external parameters of the camera are calibrated through the coordinate system relationship between the camera and the robot arm; the motion of the industrial robot is modeled, the robot arm generates a coordinate system transformation in the process of motion, the chi-square coordinate transformation matrix is used to describe the position of the robot arm linkage motion, and the fuzzy time-delay compensation algorithm is introduced to improve the tracking control accuracy of the robot arm. The results of the system performance test indicate that the designed system can gradually reduce the error during the grasping process for objects with different shapes and position angles, and finally increase the number of successful grasps in the experiment, which verifies the reliability of the designed system.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xingwen Gu "Design of delay compensation system for visual tracking control of industrial robots", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131638O (5 June 2024); https://doi.org/10.1117/12.3030639

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