Path Planning And Precision Motion Control On Cartesian Robot

With the development of equipment manufacturing industry,cartesian robots are increasingly widely applied to areas of high-end manufacturing to complete the handling, processing, assembling of the workpiece etc.Then the problem of path planning and precision motion control on cartesian robot were brought up.In this paper, the object of research is cartesian robot and the following aspects about one are carried out:First, the path planning of handling cartesian robot is researched and the algorithm of time optimal path planning is put forward. According to the task accomplished by cartesian robot, physical mathematical model one is established and distance matrix elements are from the long side of the projection of XY axis. Subsequently, the physical model is converted into an abstract mathematical model, and then genetic algorithms is used to calculate the optimal solution of the approximate time about path planning. In addition, when the robot is autonomous navigation robot, elements of distance matrix are replaced by the straight line distance.Second, trajectory planning of cartesian robot is researched and the algorithm of high order trajectory planning is put forward.The general law of high-order trajectory planning is obtained by studying the third, the fourth and even higher order trajectory planning.Meanwhile,its discrete algorithm is given.Floating operation is converted to integer calculation and then the result was corrected. The results of matlab simulation show the impact and the residual vibration are reduced to improve accuracy of displacement during high-speed movement of robot.Third, the control system of cartesian robot is researched, including servo control of the same order and one of the diferrent order. The feedforward, feedback and PID control is proposed. Afterwards,using Matlab/Simulink to simulate control system, the results show that the measure of control can ensure the error of robot motion within the allowable range to improve the stability of the motion system.