桌面型点胶机控制系统设计及运动控制算法的分析-design of control system and analysis of motion control algorithm for desktop dispensing machine.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 -II- -II- Abstract The growing popularity of adhesive industry is driving further expansion of dispensing market. Besides with the continuous development of robot technology the uses of automated dispensers have replaced the traditional manual dispenser. It is closely related to the performance of its controller whether an automatic dispenser is effective. In order to design a better controller in practical applications, a more useful control algorithm can achieve fast, stable, high-precision dispensing operation, and ensure the quality of dispensing. Meanwhile, the spline interpolation theory has been widely used in various industrial sectors in different fields, to enhance the performance of the dispenser and improve the quality of dispensing. Then the algorithm is considered to be applied in this industry, in order to achieve smooth dispensing trajectory control movement with continuous speed and linear acceleration. This thesis is based on automatic dispenser as the carrier, using a common desktop with three degrees of freedom Cartesian robot as the mechanical body structure of dispensing motion platform. Firstly, based on Leadtech SMC6480 motion controller the control system is designed to achieve its basic functions, and the related functional interfaces are customized. Secondly, by learning different spline functions defined in the field of numerical analysis and various properties of spline interpolation, the theory on spline interpolation algorithm is started in the study. Then, in the field of motion control, based on the different elements of a given movement, two kinds of spline interpolation algorithm for trajectory control, PT algorithm and PVT algorithm are proposed. Through some examples of the comparison of these two algorithms, their advantages and disadvantages are described respectively. After that, from the original object in this thesis, PVT algorithm is applied in SMC6480 motion controller, which is the main con