Abstract
According to the SCARA robot’s control requirements in term of reliability and accuracy, AC servo motors are chose as the end effect and a double-CPU control system is built, which is consist of an industry control computer (IPC) as the host machine and a motion control card as the lower machine. With the Denavit-Hartenberg (D-H) modeling method of the robot, the kinematics and inverse kinematics analysis are implemented based on a Robotics Object Oriented Package in C++, ROBOOP. The interface of the control system is designed applying Microsoft Foundation Classes (MFC) and the hardware communication and control task is realized relying on the dynamic link library (DLL). Based on the double-CPU control system, the algorithm of the motion interpolation is designed. The trajectory optimization of the end effecter is added to the robot control strategy applying the Bezier curve. The robot accuracy is tested using a laser tracker.
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Wang, N., Liu, J., Wei, S., Xu, Z., Zhang, X. (2014). The Control System Design of A SCARA Robot. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_14
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DOI: https://doi.org/10.1007/978-3-319-13963-0_14
Publisher Name: Springer, Cham
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