Open AccessResearch on the Intelligent Recognition System of Printing Roller Surface Defects Based on Machine Vision
Author(s) -
Liang Chen,
Sun Hanxv,
Qingxuan Jia,
Yanheng Zhang,
Shiwei Cao,
Zhao Wei,
Tao Yu
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1518/1/012058
Subject(s) - controller (irrigation) , workspace , robot , machine vision , process (computing) , computer science , artificial intelligence , simulation , flexibility (engineering) , parallel manipulator , industrial robot , kinematics , control engineering , engineering , computer vision , mathematics , biology , operating system , physics , classical mechanics , statistics , agronomy
The printing machine’s sleeves installation operation is a typical peg-in-hole assembly problem. The printing machine’s sleeves are usually heavy, and the precision requirement of fit is high. Therefore it is hard to fit them together, and the assembly efficiency is low. What’s more the assembly tasks may make great damage to the worker who assembles it. To solve these problems, a Gough-Stewart parallel peg-in-hole assembly robot with high precision is designed. The robot has a stereoscopic laser measurement system to obtain position and speed information to realize closed-loop workspace control of the robot. The stereoscopic laser measurement system can also ease the impact in the assembly process. The robot has a passive flexibility wrist to solve the jamming question. The assembly parallel robot is designed. The kinematics model of the stereoscopic laser measurement system and the dynamic model of the Gough-Stewart parallel robot are built. A sliding mode controller is designed for the control of this robot and the parameters of the controller are optimized. The validity of the system dynamic model and stability of the sliding mode controller is proved by Matlab simulation results. Gough-Stewart Parallel Robot’s application range could be widen by the presented work.