基于任务坐标系法焊线机轮廓控制算法设计

摘要

For the tracking problem of the end effect of wire bonders, based on the task coordinate frame approach, the paper researches the design method of the contouring control law of wire bonders, confirms that the control law consists of a time-varying PD feedback control law and a linear time invariant trajectory feedforward control law, designs the correlative parameters for a circle with radius of 10mm, and then gives the result that the contour error is 0. 033mm under the condition when the motion period is 1s.%针对自动焊线机末端执行器跟踪给定轨迹的问题,依据任务坐标系方法,研究了自动焊线机末端执行器轮廓控制算法的设计方法,得出轮廓控制器由一个时变的PD反馈控制器和一个时变的前馈补偿组成,并以半径为10mm的圆弧为例设计了相关参数,最后实验得出在运动周期为1s时,系统轮廓误差为0.033mm.