Modelling, simulation and control of a high precision loading-unloading robot for CNC milling machine

Abstract

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.