Research And Manufacture Of Dispensing Robot's Control And Its Visual Positioning System

Dispensing technology had been widely used in the field of electro-acoustic speaker diaphragm adhesion. With the decreasing size of electronic products, dispensing process became more difficulty. Complete dispensing process with dispensing robot, has became one of effective way to improve dispensing quality and production effective.Firstly, for the problems in the products of Changzhou Mingseal Robotic Technology Cl,Ltd developed a new control scheme. It using the time/pressure type dispensing technology, and controller takes TMS320F2812 as control chip. Program teaching device can complete the following functions, such as track teaching, process parameter editing, motion parameter editing and so on. This scheme takes on-line programming method to reduce the amount of task data. The concept of graph-point, graph and tasks are proposed to analyze the data of tasks.Secondly, for the using off-line programming could lead to the dada storage space shortage, this scheme takes on-line programming. In-depth study on path planning and real-time interpolation control algorithm of 3 DOF robot. This paper takes before-acceleration-deceleration method and analysis the circular interpolation error source, proposed the improved method. Robot achieves real-time interpolation of space line and space circular.Thirdly, to meet the needs of tiny parts of dispensing operation, the paper constructs a visual positioning system and in-depth study real-time image processing algorithms. Image processing using many image processing means, such as image segmentation, edge detection, mathematical morphology and so on. Proposed image contour extraction method based on the continuity of the image contour edge points. According to the actual characteristics of the workpiece, by judging the number of edge points, edge profile with straight line feature and the length of region of the short axis of these conditions, to extract the interesting contour, to improve the image SNR. According to the geometric features determine the scope of the center of circle at first, and then calculate the coordinates of center of a circle, to shot the processing time. Dispensing robot with machine vision for location system can achieve precise positioning.Finally, finish the motion experiment. The experiment results prove the effectiveness of the research content. This paper had analysis various factors that affecting the accuracy of this robot trajectory, and proposed specific solutions.