Cartesian robots are widely used in the industry applications for the reasons that their structures are very simple, their control systems are easy to realize, and they have strong extensibility. This dissertation does related researches on high speed motion control under visual guidance, large scale tracking with high precision and fast motion control with high accuracy for Cartesian robots. A 5 degree-of-freedoms table tennis robot is used to study the motion planning and high speed motion control methods under visual guidance. A macro-micro robot is adopted to study the motion control strategy of large scale tracking with high precision. An inserter machine is used to investigate fast and high accuracy motion control. The main contributions of this paper are as follows: Firstly, a multi-camera stereovision system based on four smart cameras is developed to measure the complete ball flying trajectories. A Method for image synchronous acquisition based on the smart camera’s I/O ports and a method for image acquisition and processing in parallel based on memory shift are proposed. Besides, a method for time synchronization between different computer devices is presented. Secondly, an analytic ball flying model is proposed to predict the ball flying trajectories. The initial ball velocity is computed based on gradient descent. The table rebound model is developed with the ball veloctities before and after rebounding via the measured ball trajectories is introduced. Then, a striking point choosing strategy to realize the best joint motion control is presented. Thirdly, a paddle motion planning method to compute the desired ball velocity after rebounding on the paddle in order to realize returning ball to the desired position with desired speed is presented. The landing position and speed error caused by the prediction error is analyzed. A robot striking planning strategy including approaching stage, striking stage and returning stage is proposed. The motion planning methods based on position control and speed control are designed, respectively. Fourthly, a coordinated movement method based on a macro-micro robot is presented, which combines macro planning, micro self-adjusting and correct motion. The weld tracking in large scale with high precision is realized using the robot with the proposed method. Fifthly, Methods based on fiber sensor to realize high accuracy alignment between the head of inserter and PCB are developed and point by point correctio...
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