Control System Design And Implementation Of Robotic Manipulators For Pick-and-placing GDL

Due to its cleanliness, the Fuel Cell has been recognized as one of the next generation ofadvanced power generation technologies with a wide range of application prospects andmarket demand. The key process of manufacturing Membrane Electrode Assembly (MEA) inthe Proton Exchange Membrane Fuel Cell is the laminate process of the Proton ExchangeMembrane and Gas Diffusion Layer (GDL). This thesis focuses on control system design andimplementation of robotic manipulator for pick-and-placing GDL. The main contents of thisthesis are as follows:1. According to the requirements of manufacturing MEA process, analyzing the actualworking condition of the GDL rapid transfer, designing control system of robotic manipulatorand completing the selection of key control components.2. To meet control requirements in pick-and-place operations, analyzing the specificprocess of pick-and-place operations. Using analysis method and system identificationmethod to obtain the servo feed system modeling and force sensor modeling. Proposingposition control strategy based on feed-forward control in free motion stage, and forcecontroller based on fuzzy adaptive PID algorithm in contained motion stage. Simulations arecarried out to verify the effectiveness of the proposed control method.3. To achieve robotic manipulator’s efficiency demand, setting up robot’s forward/inverse kinematics equation. For space transfer motion process of robotic manipulator,proposing the pure S type speed curve trajectory to improve operation efficiency and accuracy;and for pick-and-place operations process, employing high order polynomial interpolationtrajectory to avoid system impact and vibration caused by switching motion mode. Bysimulation, verifying the feasibility of the proposed trajectory.4. To further verify control effect of above control method and trajectory, carrying outexperiment research on position control and trajectory planning. The results show that theproposed control method and trajectory achieve good control effect.The proposed control methods and trajectory in this thesis are successfully applied to themanipulator pick-and-placing GDL. They can also be extended to the pick-and-placeoperations of the chips and other filed that needs precise positioning and accurate operationsin IC manufacture equipment filed, which has broad application prospects.