Motion Control System Design And Path Planning Of Fluid Dispensing Robot

In recent years, liquid dispensing technology is playing a more and more important part inbiology, semi-conductor packaging, micro-electronic-mechanical-system (MEMS), etc. Thetechnology is a process to dispensing the glue accurately in a controlled manner. It is very difficult toguarantee the quality and performance of the dispensing owing to the complexity of the process,therefore, to improve the stability, the repeatability and the accuracy of the process is of muchsignificance.The bench top robot of time-pressure dispensing system is selected as the motion platform, andthe control system structure is mainly discussed in this paper. In order to free the microcontroller,control the cost of developing products, and improve the flexibility and stability of the system, thedesign of motion control system based on special integrated circuits is designed in this paper. Themotion control board is equipped with the microcontroller MEGA128, the3-axes motion controllerTMC429, the three stepper motor drivers TMC262as well as the incremental encoder interface chipTMC424. Communication is possible via RS232, RS485and CAN, which makes the communicatevery convenient. Additionally, the motion control board is a complete plug-and-play solution. Themotion control system performs all real time critical tasks autonomously based on target positions andvelocities, which can be altered on-the-fly. If these tasks are accomplished by the microcontrollerindependently, it will occupy lots of system resources. By using special integrated circuits, themicrocontroller is free to do high level control functions and application specific interfacing. Toimprove the precision of the system, parameters auto-tuning PID controller is designed inposition-feedback. Compared with the performance of ordinary PID controller, the Fuzzy-PIDcontroller is much better. It’s obvious that reducing the relative distance of glue gun can improve theefficiency in batch processing cases, Ant Colony Optimization (ACO) algorithm is introduced here tooptimize the dispensing route at the end of this paper.After completing the design of the software and hardware, some essential simulations and testsabout the system performance are put into execution. And the experiment results indicate that thecontrol system has the virtues of real time control and steady data transmission etc. The designachieves the desired effectiveness and requirement.