Research On Trajectory Planning And Control System For Glass Substrate Handling Robot

Flat Panel Display (FPD) manufacturing has become the basic and strategic industry of electronic information industry. Glass substrate is the key basic material in FPD manufacturing. Glass substrate handling robot is automation equipment which is used to exchange and transfer glass substrate in FPD manufacturing, and its performance directly affects production efficiency and manufacturing quality of FPD products. So, it is very important to research glass handling robot and its key technologies.Firstly, this paper introduces the development and research situation of glass subtrate handling robot at home and abroad, analyses the basic principles of robot trajectory planning in joint space and Cartesian space, discusses the development of robot motion controller and the sort of motion control system.Secondly, based on the domestic market needs, this paper proposes the design guidelines of glass substrate handling robot, ascertains the configuration of glass substrate handling robot, detailes the structure and mechanism of basic module, lift module, rotary module, expansion module, and also checks the macth performance of servo motor of each module and ball screw.Than, in order to improve the stability and rapidity of glass substrate handling robot, this paper introduces the common optimization criteria in robot trajectory planning, proposes time-jerk synthetic optimal trajectory planning for glass substrate handling robot, deduces the interpolation process of robot trajectory based on cubic spline, builds mathematic model and constrains of time-jerk synthetic optimal trajectory planning. For solving the mathematic model, this paper designs an improved genetic algorithm based on fuzzy logic theory, and achieve the programming of improved genetic algorithm and simulation with MATLAB. The simulation results indicate that the approach time-jerk synthetic trajectory planning effectively sovle the contradiction problem between short execution time and low jerks.Finally, this paper presents the design rules of glass substrate handling robot, ascertains the master-slave control system for glass substrate handling robot using computer and MPC02 motion control card, selects the servo motor and servo unit of each module, designs the vacuum adsorption system and sensor system of glass substrate handling robot, and also draws the connection schematic map of control system.