The Delta robot is a type of parallel robot named after its DNA structure that resembles the Greek letter Δ. The Delta robot consists of a set of parallelogram robotic arms and their related control systems, which can complete various complex operations within the robot's operating area, such as handling, assembly, painting, excavation, and polishing. Delta robots have a wide range of applications, including industrial manufacturing, healthcare, education and research, and entertainment.
The working principle of Delta robot control system
The control system of Delta robots is mainly divided into six parts: robot model establishment, motion planning, path planning, trajectory planning, dynamic model, and feedback control. In terms of control systems, Delta robots differ greatly from other traditional industrial robots. On the basis of using aerodynamic characteristics for motion control, it also uses a unique three-layer dynamic model and a powerful feedback control system.
1. Establishment of robot model
The establishment of a robot model is the first step in the Delta robot control system. The Delta robot is based on three parallel support rods, which have high accuracy and adaptability, so the establishment of the robot model is a particularly complex and crucial step. The establishment of a robot model is based on factors such as the robot's operating environment, dynamic characteristics, and kinematic characteristics.
2. Sports planning
Motion planning is the second step of the Delta robot control system, which involves mapping input reference signals into subspace recognition problems through the robot model, ultimately achieving prediction and planning of the robot's motion state. The implementation of motion planning needs to consider factors such as the minimum acceleration, maximum velocity, and maximum acceleration of the robot, and predict and plan the robot's motion through mathematical and computational methods to achieve precise control of the robot.
3. Path planning
Path planning is the third step of the Delta robot control system, with the main purpose of achieving motion trajectory planning for the robot, enabling it to perform specific operational tasks within a specified spatial range. The path planning process is based on the motion planning of the robot in space, which inputs the target trajectory coordinate set into the robot controller through mathematical models and calculation methods to achieve precise control of the robot.
4. Trajectory planning
Trajectory planning is the fourth step of the Delta robot control system, which is a further optimization and implementation of path planning aimed at achieving robot guidance and control. By decomposing the motion of the robot into a series of subproblems and mapping these subproblems to the motion space control equation, the trajectory planning of the robot is achieved to achieve more accurate and stable control effects.
5. Dynamic model
The dynamic model is the fifth step of the Delta robot control system, which establishes an accurate motion model through dynamic analysis of the robot's motion state and behavior to achieve precise control of the robot. Dynamic models usually include robot constraint equations, transfer matrices, coordinate transformations, etc. By using these dynamic models, the kinematic and dynamic characteristics of the robot are calculated, ultimately achieving adaptive control of the robot.
6. Feedback control
Feedback control is the final step of the Delta robot control system, which is based on the principle of control feedback. By monitoring and providing feedback on the robot's state and operation status, it achieves higher precision and more stable control of the robot. The Delta robot control feedback mechanism has strong self-learning and adaptive capabilities, which can continuously adjust the robot's motion state and control parameters in iterations to achieve optimal control effects.