Modelling, Control and Simulation of a Jet Printer Robot

Abstract: This thesis was carried out at Micronic Mydata AB in Stockholm in cooperation with the Automatic Control Laboratory at Royal Institute of Technology (KTH). The company develops and produces robots to attach components onto Printed Circuit Boards (PCBs). The focus of this thesis is a Jet Printer robot called MY500 which applies solder paste dots onto PCBs. The purpose is to build a realistic model of the robot including its controller structure in the Matlab toolboxes Simulink and SimMechanics. An analysis of the controller performance and comparison to a linear quadratic regulator is also considered and conclusions are made based on simulation results and performance logs from the company's laboratory.