Research And Implementation On Open Architecture Control System Of Dispensing Robot

With the impetus of the Made in China 2025 Strategy, many Chinese manufacturing enterprises have begun to accelerate the process of intellectualized reconstruction of their factories. This acceleration entails an increasing quantity and quality demands for robots. How to develop intelligent robots rapidly to meet the enterprises' requirements has become an important research topic. To conform to this research trend, the open dispensing robot control system is proposed. This system has high efficiency in dispensing components on the circuit board, with good openness and reconfigurability.This thesis is set in the control system of dispensing robot which is based on vision, it has researched various key techniques, including the system construction of the open robot, the motion control and path planning, the vision localization algorithm and the concrete implementation methods of dispensing. The research goes through four major procedures: firstly, based on the technical requirements of dispensing, we have designed the hardware architecture of the robot which consists of various modules. We have also proposed the design idea of open control software which is based on components, it has effectively improved the reconfigurable and extensibility of the control software because each function module is designed as a COM component. Then,we have built a D-H model for the ABB IRB-1200 type of robot, analyzed its kinematics and inverse kinematics algorithms and have built the Matlab simulation model for it. Based on this model, the range of its workspace, the interpolation programming for joint space and the path planning algorithm for Cartesian space also have been researched. Moreover, we also have built the 3D simulation model for the robot by adopting Solidworks and Labview, which makes the offline 3D simulation become possible. Once again, we have used the sift, surf and simple template matching algorithms to identifiy the Mark points on the image of the PCB board, through the analysis and comparison of the results, we have put forward the improved template matching algorithm which is based on geometric features. Furthermore, the mechanism coordinates and the image coordinates also have been associated successfully. Lastly, we have analyzed the technological process and the flow model of dispensing, also have proposed concrete implementation methods of modules of the open dispensing robot control software. Through the visual-aided localization,we have accomplished the specific dispensing tasks, and have analysised the problems in dispensing, also we have offerd good solutions to save these problems.Experiments have shown that on one hand, the use of visual-aided localization in the control system has improved the accuracy of robot dispensing. On the other hand, the adoption of open thought in the design of robot control software has significantly improved the maintainability and expansibility of the control system.