CASIA OpenIR  > 类脑智能研究中心  > 神经计算及脑机交互
Sorting system algorithms based on dynamic picking for delta robot
Tingting Su1,2; Haojian Zhang1,2; Yunkuan Wang1,2; Shaohong Wu1; Jun Zheng1; Jianzhang Chang3; Hongsheng Sun3; Shuhai Zhang4
Conference Name2017 Seventh International Conference on Information Science and Technology (ICIST)
Conference Date16-19 April 2017
Conference PlaceDa Nang, Vietnam

In this paper, different conditions of pick-and-place trajectory are analyzed, and on this basis, the dynamic picking algorithm for the workpieces on the conveyor belt is proposed by using the Ferrari’s method. Then, the trajectory planning algorithm of sorting multiple types of workpieces is proposed by analyzing the trajectory planning model of two types of workpieces. The workpiece to be sorted is determined first, and then will be picked up at the picking point calculated by dynamic picking algorithm. Experiments show that the dynamic picking algorithm is accurate and fast; does not need to set the initial value and is suitable for practical engineering applications. And the algorithm of trajectory planning for multiple types of workpieces has high accuracy and stability.

KeywordDelta Robot Dynamic Picking Ferrari’s Method Industrial Sorting Trajectory Planning
Document Type会议论文
Affiliation1.Institute of Automation, Chinese Academy of Science
2.University of Chinese Academy of Sciences
3.Bohai Shipyard Group Co., Ltd
4.Huludao Bohai Mechanical Engineering Co., Ltd
Recommended Citation
GB/T 7714
Tingting Su,Haojian Zhang,Yunkuan Wang,et al. Sorting system algorithms based on dynamic picking for delta robot[C],2017.
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