In the academic world, the methodology of dynamic modeling of robotic arms has been studied intensively many years ago. As a very useful tool, it is commonly used in the field of robotics and engineering laboratories to research and develop humanoid robots, develop advanced control algorithms, motion simulation and other academic research and development. Dynamic modeling involves mathematical formulas that describe the inertia, mass, and centroid dynamics of the robot and other values ​​that are not easily calculated. Although frequently seen in theoretical research, the use of dynamic modeling to improve robot control is largely unrecognized by developers and industrial robot manufacturers.
Gaochuang first considered the use of dynamic modeling to solve the performance problems encountered by high-speed delta robots in the semiconductor industry.
For solar wafer processing applications, high acceleration and high accuracy are required. The Delta robot structure is inherently fragile, so the robotic arm is vulnerable. In addition, it poses a threat to the impact and damage of valuable loads and production materials.
　 Delta robots are at risk of damaging themselves and their loads
Delta dynamics are based on parallelograms of forces connected by spherical joints. In some systems, these parallelograms are connected to the mobile platform and the manipulator coupling. If it exceeds a certain position or angle, it needs force to decompose, and the robot will decelerate greatly. Even a small collision or strong vibration can disintegrate the robot. To complicate matters, these breakpoints are typically located in the extended position and are at higher risk of encountering obstacles. After the robot is broken, the remaining impact is not detected, which increases the probability of potential damage.
In order to solve the above hidden dangers and provide better control performance of the delta robot, the high-tech engineers adopted and improved the original dynamic mode in the scientific research to provide better control for the delta robot.
Describe the result pattern or set of algorithms for the delta robot, and only account for half of the control pattern.
The mode is universal. Actual parameter values ​​vary depending on the size and quality of the robot. Although the robots are the same in size, they have different physical properties. The physical properties of each robot in the same series may vary, resulting in different performance for each robot.
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