On Target Positioning Parallel Robot Control

Designing and manufacturing a type of precision parallel robot for positioning, and realized 6 DOF spacial precision target positioning in micro meter scale are presented in this paper. Principle of the system is dissertated, and a high integrated and accurate control system for parallel robot is designed. All the control modules are integrated in the computer. Based on the research of the parallel robot´s positioning control arithmetic, the model of target positioning is deduced. A method based on vision for target positioning closed-loop control is studied. In the method, 6 DOF precision target positioning is realized by the loop adjustment of each DOF of the parallel robot on the condition of the relation between coordinate systems is not known completely. Experiments proved this robot system realized 6 DOF auto closed-loop target positioning.