Dispenser Motion Controller And Space Curve Interpolation Algorithm

Due to rising labor costs and the continuous development of industrialautomation technology in China over the past two years, non-standard automationequipment requirement become more and more urgent with the market demand andthe technology improvement. Various automation equipment are developed toreduce and replace the manual operation, such as dispensing machine, flockingmachine, SMT machine, lock screw machine, etc.The main purpose of this thesis is to provide a controller with space trajectoryinterpolation for a dispensing machine. The motion control system is designed. Thecoating performance of dispensing machine is improved. The interpolationalgorithm is studied and realized on the embedded chip. The lower cost of themotion controler is adopted on the dispensing machine. In this thesis the velocityplanning, the acceleration and deceleration interpolation process are analyzed indetail and realized. And the second velocity planning is made to solve the vibrationproblem in the process of acceleration and deceleration. Then the parametricinterpolation methods of the space curves including space circular arc, cylindricalhelix, conical helix interpolation arc implemented. The trajectory planning iscombined with the acceleration and deceleration interpolation parameters. Thecomputation time is greatly reduced. The accurarcy and error of the fineinterpolation method are analyzed. The coarse and fine interpolation process isrealized. The hardware and software of the motion controller are designed.Theexperiments are carried out.