Research on the Pose Detection and Control Methods of Robot with Series-Parallel Structure

Aiming at the load requirements, positioning accuracy and workflow of building panels installed robot, developed a 6 DOF of a series-parallel hybrid structure installed robot. According to the structural features of parallel mechanism to the installation manipulator, designed a robot attitude sensing system based on the inclination and laser ranging sensor information feedback; according to the characteristics of the building environment, proposed the position detection method of panels to be installed based on the structured light vision; constructed the control system of the installation manipulator, and used teaching mode to achieve robot control and system calibration. The experimental data prove that, the control and sensing systems of panels installed robot, overcome the complexity of the building environment and the diversity of installation object, and can achieve the automated installation of building panels.