Parallel connection jade pasting manipulator control system and method

Abstract

The invention discloses a parallel connection jade pasting manipulator control system and method. The parallel jade pasting manipulator control system comprises an industrial personal computer, a motion controller, an EtherCAT coupler, a servo driver and a servo motor; and the industrial personal computer is connected with a positioning industrial camera and two displays and is used for mattressposition visual detection, system man-machine interaction and system overall scheduling. The parallel connection jade pasting manipulator control method comprises workflow control, error compensationadjustment and motion planning and control. According to the error compensation method, the kinematic calibration requirement on parallel connection jade pasting manipulators is reduced to a certain extent, and the system development period is shortened; according to the motion control method, the space installation of the two parallel connection jade pasting manipulators is not required to be parallel to a mattress coordinate system, so that the mechanical installation requirement is reduced, and the problem of manipulator spatial layout is solved.

Description

technical field [0001] The invention relates to the field of automation equipment, in particular to a control system and method for a parallel jade sticking manipulator for chips. Background technique [0002] The parallel manipulator refers to providing a robot with low cost, easy installation and maintenance, and strong operability. The parallel manipulator includes a fixed platform, a moving platform and several branch chains connecting the fixed platform and the moving platform. [0003] The parallel manipulator has the advantages of high performance, low cost, large load-to-weight ratio, low inertia, good dynamic performance, and high motion precision, and is developing rapidly. The intelligent parallel manipulator can use the method of combining neural network and machine learning to effectively extract features and weight them to ensure that the error is minimized and has good robustness, which can meet the high precision of the device and the working requirements of...

AI Technical Summary

Problems solved by technology

[0006] However, since the parallel manipulator cannot directly position the mattress, the spatial installation of the two parallel manipulators causes the coordinate system to rotate; the number and position of jade on different mattresses are different; at the same time, due to the accuracy of the parallel manipulator itself, the positioning error of the manipulator, especially the edge error increase

These reasons make it difficult to control the parallel manipulator and the accuracy is difficult to meet the requirements.

Images