Sensor-based design of a Delta parallel robot

This paper proposes a sensor-based design methodology in order to Delta robot with guaranteed accuracy performance for dedicated controller. takes into account the of controller process find optimal geometric parameters robot. Three types controllers are envisaged be applied robot, leading three different designs: leg-direction-based visual servoing, line-based servoing and image moment servoing. Based on these controllers, positioning error models taking observation coming from camera developed, singularities analyzed. Then, optimization problems formulated relevant each type Prototypes robots have been manufactured based obtained optimum test pair {robot-controller}.