Machine vision implementation for control of parallel mechanism

Abstract

The topic of this bachelor thesis covers issues of parallel robotics. It is focused on challenges of one particular type of parallel robot – delta robot. In this thesis it is described history of parallel robotics, kinematical calculations and machine vision. In the last part of this thesis is description of practical programming of delta robot and palletisation task using machine vision. Parallel robots have, compared to serial robots, certain advantages, but also disadvantages. Parallel robots are more stable, lower mass and they have higher accelerations and can do more work cycles. Using machine vision they can be used for sorting tasks, for example to put product into crates or sorting of machine parts