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Mathematical Problems in Engineering
Volume 2015, Article ID 365206, 9 pages
Research Article

Three-Stage Tracking Control for the LED Wafer Transporting Robot

1School of Electrical Engineering and Automation, Qilu University of Technology, Jinan 250353, China
2Key Laboratory of Pulp and Paper Science & Technology of Ministry of Education of China, Qilu University of Technology, Jinan 250353, China

Received 16 May 2015; Accepted 17 June 2015

Academic Editor: Xinguang Zhang

Copyright © 2015 Zuoxun Wang and Zhiguo Yan. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In order to ensure the steady ability of the LED wafer transporting robot, a high order polynomial interpolation method is proposed to plan the motion process of the LED wafer transporting robot. According to the LED wafer transporting robot which is fast and has no vibration, fifth-order polynomial is applied to complete the robot’s motion planning. A new subsection search method is proposed to optimize the transporting robot’s acceleration. Optimal planning curve is achieved by the subsection searching. Extended Kalman filter algorithm and PID algorithm are employed to follow the tracks of planned path. MATLAB simulation and experiment confirm the validity and efficiency of the proposed method.