Multi-axis motion platform control method and device, terminal equipment and storage medium

• Main Authors: LIU FENGHAI, KANG SHUO, ZHANG BUYANG, HUANG XING, ZHU YUNLONG
• Format: Patent
• Language: Chinese; English
• Published: 02.05.2023
• Subjects: CORRECTION OF TYPOGRAPHICAL ERRORS; i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; LINING MACHINES; PERFORMING OPERATIONS; PRINTING; SELECTIVE PRINTING MECHANISMS; STAMPS; TRANSPORTING; TYPEWRITERS

The invention discloses a control method and device of a multi-axis motion platform, terminal equipment and a storage medium, the control method and device are applied to the multi-axis motion platform of OLED printing display equipment, and a vertical axis of the multi-axis motion platform is provided with a spray head; the method comprises the following steps: determining a real-time relative position between the nozzle and an obstacle in the advancing direction according to distance information between the nozzle and the obstacle protruding on the surface of the multi-axis motion platform; a preset control obstacle function is called to generate a motion constraint condition for the nozzle according to the real-time relative position so as to carry out path real-time planning, and the control obstacle function is obtained through design in combination with an operation avoidance requirement and a control Lyapunov function; the control Lyapunov function is designed according to a control precision requireme