Research On Robotic Arm Positioning And Control For Surface Mount

Robots are an important part of industry nowadays.Industrial robots are multi-joint robots or multi-degrees of freedom machine devices that are oriented toward the industrial field.It can perform work automatically and is a kind of machine that realizes various functions by its own power and control ability.Industrial hand-type robots,i.e.robotic arms,have unparalleled advantages in industrial production and can improve productivity,safety,efficiency,product quality and product consistency.Surface mount technology is currently the most popular technology and process in the electronics assembly industry.Combining the many advantages of the robot arm,applying the robot arm as an operator to surface mounting can greatly improve the assembly operation effect.The research of this topic mainly consists of two parts,namely the visual positioning of the chip and the control of the robotic arm.Positioning by the machine vision,accurately position the chip,and use the robotic arm to complete the placement of components.The precise control of the manipulator is well with certain compatibility for different components.In the machine vision section,the binocular vision model is introduced.In combination with the calibration principle,the image coordinates are matched with the actual coordinates.After the image is acquired,the image is preprocessed,including image blurring and image binarization.Through image blurring,the noise information in the image is removed under the original image feature.Through image binarization,the redundant background information is filtered to highlight the contour information of the target.Finally,using the contour extraction method,the target contour in the binarized image is extracted to determine the position coordinates of the chip.The study of the robotic arm is divided into three parts,namely the modeling of the robotic arm,the forward&inverse kinematics analysis,and the trajectory planning.The D-H method was used to establish the manipulator model,and the spatial pose relationship between the manipulator coordinate system and the reference coordinate system was derived.Through forward&inverse kinematic analysis,the position of the endpoint and each joint angle are converted into each other.Polynomial trajectory planning and Cartesian coordinate trajectory planning are used to optimize the motion path of the manipulator to allow it to move smoothly,so that the motion between the trajectory points maintains good continuity.Matlab toolbox is used to build a robotic arm simulation system to implement and evaluate the above algorithm.This thesis validates the accuracy of robotic arm model and positioning through physical grabbing experiments.The Matlab toolbox was used to simulate the process of robotic arm's motion change in the ideal environment under trajectory planning.Statistical data was drawn to quantify the stability and continuity of the robotic arm.The advantages and disadvantages of different algorithms were compared.