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Research and Manufacture of Dispensing Robot’s Control and Its Visual Positioning System

Author: LiHaiBing
Tutor: FuLiXin
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Coating Robot Control Systems Real-time interpolation algorithm Visual Positioning Speaker
CLC: TP242.2
Type: Master's thesis
Year: 2010
Downloads: 147
Quote: 1
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Abstract


Coating technology is widely used in the field of electro-acoustic speaker diaphragm bonding. With the reduction in size of electronic products , gluing process more difficult, use a rubberized coating robot to complete coating process to improve quality and productivity to become efficient and effective way . First, the robotics company for Mingseal problems earlier products developed new control scheme. The program uses the time / pressure -type dispensing technology , the system controller uses TMS320F2812 as the core control chip, by the completion of the teaching box gluing trajectory teach , process parameter editing, motion parameters editing functions. Gluing robot control system programming using online methods to reduce the amount of data storage tasks . Proposed in Figure Points, the concepts and tasks to resolve task data . Second, for the use of off-line programming methods will lead to lack of space mission data storage problems , we use online programming approach. Glue the three degrees of freedom robot trajectory planning and real-time interpolation control algorithm in-depth study , using the former acceleration and deceleration control method, and analyzed the circular interpolation error sources , an improved approach. The robot eventually realized the real space lines and circular interpolation function space and U-axis servo arc coating capabilities. Then , to meet the needs of small parts coating operations , the paper constructed and studied visual positioning system can achieve real-time positioning of small parts of the image processing algorithms. Image processing using image segmentation , mathematical morphology, edge detection and other image processing means . Proposed outline of the edge point of the image the continuity of the edge of the outline extraction method . According to the actual characteristics of the workpiece , by determining the number of edge points , the edge of the line containing the characteristics and length of the contour length of the shaft region of these conditions , extraction of contour edge points of interest , improves the image quality. According to the geometric characteristics of a circle , the center constraint range , shortening the time for determining the center of the circle . The algorithm has been implemented on the coating robot precise positioning . Finally, the system were studied . The experimental results prove the validity of the study . Meanwhile gummed paper also analyzes the impact of robot motion accuracy of some of the factors , and proposed specific solutions .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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