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Research on Monitoring System of High-Load Parallel Robot

Author: WangHaiTao
Tutor: HaoKuangRong
School: Donghua University
Course: Control Theory and Control Engineering
Keywords: Big load of parallel robot Position and orientation detection Virtual Sports synchronization Software clock synchronization Open Inventor WinSock
CLC: TP242
Type: Master's thesis
Year: 2012
Downloads: 16
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Abstract


Big load parallel robots have broad applications in the field of space docking institutions, high-speed motion simulator. Big load parallel robot often work in the harsh environment, the naked eye can not easily observed, and the moving platform with six degrees of freedom, the complexity of the trajectory, it is difficult to achieve a dynamic pose detection. To solve these problems, this research project with a high accuracy position and orientation detection and virtual synchronous motor function parallel robot monitoring system, complete the following: (1) the precise position and orientation detection positive solutions based on stereo vision and position the combined . First, install a parallel robot stereo vision detection system, detection rough pose parameters, in order to determine the location of the spatial extent of positive solutions. Positive solution of parallel mechanism although there is more than one, but in a limited space, positive solution is unique. Positive solutions in accordance with the test results and stereo vision sensors measure the length of the branched-chain, with the position algorithm to obtain the precise position and orientation of the robot. The method inheritance stereo vision pose detection method can realize the advantages of the dynamic testing of multi-degree of freedom of movement, but also improves the detection accuracy. (2) to establish a virtual robot on the monitoring computer. VC and Open Inventor development platform, the first three-dimensional model of the parallel robot is built with professional 3D modeling software PRO / E, then model data into the development platform, and finally build a virtual robot scene database. This method is faster than the traditional method of using OpenGL modeling speed, suitable for the development of object-oriented systems. (3) to study the use of Open Inventor virtual robot motion control mechanism. Set a my Communication class node under the root node of the virtual robot scene database, and use it to receive the latest real-time position and orientation information; increase in virtual robot body corresponding to the node attribute nodes attribute node of a translational and three rotational attribute node to multi-degree of freedom virtual control of the movement. Sensor class is a component of the Open Inventor, it is capable of real-time detection of changes in the node. the parameter changes of myCommunication detected by the sensor, the sensor call a custom function to set the appropriate level moving or rotating nodes almost synchronized movement, rendering the after SoGLRenderAction class. (4) to study the lognormal distribution based on the network delay probability clock synchronization algorithm and system based on WinSock communication method to achieve clock synchronization and communication between the PC monitoring system. (5) design the architecture of the framework of the monitoring system, and the precise position and orientation detection and virtual movement synchronized implementation, the design of the monitoring interface. The test results show that the issues raised with certain feasibility, better position and orientation detection accuracy and virtual synchronous motion effects.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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