Printing robot system for labeling on the moving steel plate

This paper presents a Cartesian robot system for labeling on the moving steel plate. The heavy steel plate moves on the conveyor line with irregular speed and position. For the quality of print result, ink head has not to move along the steel plate precisely but to measure the exact position and angle of the moving plate. These two problems along with system integration are the main issues for the automation of labeling process. In this paper, configuration of the robot system, the function of each component and the methodologies of control are discussed.