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首页> 外文会议>2017 15th International Conference on Quality in Research : International Symposium on Electrical and Computer Engineering >Modelling, simulation and control of a high precision loading-unloading robot for CNC milling machine
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Modelling, simulation and control of a high precision loading-unloading robot for CNC milling machine

机译：数控铣床高精度装卸机器人的建模，仿真与控制

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摘要

The high precision Loading unloading robot under studied is one of the CNC Machines developed to support the Intra-ocular Eye-Lens manufacturing process. the Robot uses two DC Servo Motor as the actuators for the position control in cartesian coordinate. The desired specification of the Robot is of a very high accuracy which is reaching 10μm in high speed, such that it is necessary to understand the dynamic characteristic of the servo motors in the robot. Based on the physical modeling of the robot a set of high order transfer function is developed, and by conducting simulation using matlab, the effect of the increase in gain on the servo motor towards the respond of the system can be studied. The experiment on DC Servo Motor control using Aerotech Ensemble software will be conducted to find the incremental effect of each gain in the controller, and compared to the simulation result from Matlab. A good understanding of the controller behavior can be achieved in this paper, and the specific effect of each servo gain to obtained the desired specification can be learned, such that the manual setting of the gain on Robot controller can be done optimally.
机译：被研究的高精度装卸机器人是为支持眼内镜制造过程而开发的CNC机器之一。机器人使用两个直流伺服电机作为执行器，以笛卡尔坐标进行位置控制。机器人的理想规格具有很高的精度，可以在高速下达到10μm，因此有必要了解机器人中伺服电机的动态特性。基于机器人的物理模型，开发了一组高阶传递函数，并通过使用Matlab进行仿真，可以研究增益增加对伺服电机的响应对系统响应的影响。将使用Aerotech Ensemble软件进行直流伺服电机控制的实验，以发现控制器中每个增益的增量效果，并将其与Matlab的仿真结果进行比较。在本文中，可以很好地理解控制器的行为，并且可以了解每个伺服增益对于获得所需规格的特定效果，从而可以最佳地对机器人控制器上的增益进行手动设置。

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