Motion Planning Research And Control Simulation Of Cartesian Robot

With the development of the mechanical industry, the level of the automation is higher and higher. Though the usage of industry robot is generalized and commercial, it is still an problem to research for the motion planning research and control of certain kind robot, especially the cartesian robot. After the research for the motion planning of the robot, we can get the general result of the motion planning, which will reduce the impact and residual vibration and improve the kinematic accuracy of the robot.At first, according to the physical dimension of the robot, I selected the noncontact proximity detector, studied the operation and the SDK of the motion control card and the theory of the fuzzy control, analysed the meaning and effect of the parameters of the AC servo motor, and learned how to adjust it to fit our need. For the original driver of the Googol GT400-SV motion controller, I did the reverse engineering. Based on the previous studies,I tested and verified the actual effect of Fraction Function Motion Planning Method, Trigonometric Function Motion Planning Method, Polynomial Function Motion Planning Method, compared the control effect of motion control algorithms, and gave my conclusion that the motion planning using trigonometric function may be the better choice.Besides, the system type of this system was confirmed by the previous document The parameter identification was done with the ARMAX method and the data of previous experiment, and then we got the transfer function of the system. In the research of the system control, I researched the normal PID, fuzzy PID, inversed transfer function method. On the platform of the laboratory, the experiment condition and the state of the fund, I finished the design of motion control system, installed and tested the instrument., I finished the research of the lettering robot and programmed for it and verified the validity of the control system.