Real-Time Trajectory Tracking Control Strategy for 3-PRR Parallel Robot

With the rapid development of automation technology, the 3-PRR parallel robot stands out due to its excellent load capacity, good rigidity and high accuracy. Its unique mechanism design enables it to achieve accurate trajectory control in a large workspace, so it has gradually become the focus of attention from all walks of life. Based on this, this paper selects the center point of the parallel robot moving platform as the research object, constructs a set of trajectory tracking image acquisition system based on machine vision, and carries out the precise extraction of coordinates for the collected trajectory image. Specifically, firstly, according to the motion trajectory curve in the Cartesian coordinate system, the CSRT algorithm is used to perform preliminary target detection, and then the calibration is completed with the help of the checkerboard to verify the accuracy of the visual camera. Finally, the trajectory tracking was recorded and its trajectory accuracy was deeply analyzed. The experimental results show that the reprojection error of camera calibration is less than 0.3pixels, and the error of trajectory depth measured by machine vision is less than 0.2mm, which indicates that the method is sufficient to meet the requirements of machine vision trajectory tracking and measurement.