Precise Position Control of Shoes-Upper for Screen Printing Machine Using SCARA Robot

摘要

This paper proposes a new method to enhance precise position control of shoes-upper for screen printing machine. The method is based on control of SCARA robot and image processing. The system has a SCARA robot attached a suction plate on its end-effector, a fixed table and a conveyor system for screen printing machine. The suction plate takes supplied a shoes-upper on fixed table and calibrates its position from the table to conveyor. Position errors are eliminated during robot's motion. The SCARA robot is controlled by a simple PD controller. The effectiveness of the method is verified through a model-based simulation and its results.