Research Of The Library ATM Machine Manipulator Control System And Every Book Plate Deformation Error

Library ATM machine is a self-intelligence service system, which combines sensingtechnology, information technology, automation technology as a whole. It can achieveself-charging, self-help books, renew books, self-accreditation and self-service paymentfunctions, lifting the limitations of traditional library in space and time, it also canprovide a more convenient and friendly environment for readers to borrow books. TheLibrary ATM machine manipulator as the executing agency is the key part to improvingefficiency and operational reliability. Therefore, the design and research has importantpractical value for the library ATM machine control system.Library ATM machine frame is added E-shaped spacer plate on the basis of thetraditional library book rack, the manipulator on the inside of the machine complete theupper and lower of book from book shelves. Book shelves and manipulator isencapsulated with the overall framework, readers select books from the front panel, andcomplete book operation from the machine operator interface. Library ATM machinecontrol system is based on the control scheme on PC and motion control card, the maingoal is to take control of the manipulator to complete the book-taken, take action tocomplete the book-taken by the X, Y, Z, W axis motion. X, Y, Z axis is an open-loopcontrol, which controls the manipulator gets to the position of books. W axis is forceclosed-loop control, the pressure sensor data collected by the microcontroller andfeedback to the PC, the device controls the manipulator end effector reliable grabbingbooks. Another control scheme designed collects book outlet, automatic doors, printers,scanners, lighting and other auxiliary equipment.On the basis of the control scheme, combined with the device functionalrequirements, designed object-oriented operating software. The software is developed onVC++6.0development platform based on the design of the dialog box procedure. The main module window displays, positioning motion control, motion control of foldingbooks, and other parts of the auxiliary function control.Take the book for the X-axis direction failure problems, experimentally validatedanalysis to identify the fault lies, positioning control scheme is proposed based on errorcorrection, a good solution to the problem of failure to take the book, making the systemmore stable and reliable, trouble-free operation time is greatly extended.