The Implementation of a Track-moving Ceiling-mounted Robot Arm for a Spraying Coating System
| Autor: | Yan-Ru, Lai, 賴嬿如 |
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| Rok vydání: | 2016 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 104 The purpose of the study was to design the rail-hanging robot which applied to the painting system. The rail-hanging robot equipped with self-developed software to implement complex movements. The method of the motion path planning in this study was to design the velocity curve with acceleration and deceleration via the planning of velocity curve. Then, used the path interpolation to obtain the coordinates of the points which on the acceleration and deceleration of planning the motion path. Finally, used inverse kinematics to obtain the respective axes of rotation degree, then executed the multi-axis closed-loop servo control. The method of the experiment in this study was using time domain system identification, the system parameters were identified for each axis. Then the part of control compared Manifold Deformation Design Scheme (MDDS) which proposed by C.S.Liu in 1998 with the PID controller which used most frequently on the industrial circle. The part of software and hardware integration was using FPGA motion controller combined PC-Based to establish a servo motor control system, then designed the man-machine interface which in a Microsoft Visual Studio C ++ development environment, the use of C ++ / CLI programming language tracked suspension robot motion control. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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