| With the development of automation control technology and manufacturing technology,industrial robots are increasingly used.In this paper,the motion trajectory of SCARA robot in the flat hole searching process is taken as the research object.Based on the kinematics analysis,the 3-5-3 polynomial interpolation algorithm is used to plan the motion trajectory between the homing holes to ensure that the SCARA robot is looking for The movement between the holes is completed smoothly and efficiently in the holes.The main contents of this paper are as follows:(1)Taking SCARA robot as the research object,the SCARA robot model was established based on d-h coordinate system,and it was modeled based on MATLAB software.The positive and negative solutions were obtained and verified.The workspace and dynamics were analyzed to verify the feasibility of the design.(2)In Cartesian space trajectory planning,straight line and plane arc interpolation algorithms are introduced.In joint space trajectory planning,cubic,quintic and seventh polynomial interpolation algorithms are studied and analyzed respectively.The trajectory planning of Cartesian space and joint space is simulated based on MATLAB software,and the stability of robot motion is verified.(3)Based on DRAS software to realize the control of SCARA robot,design the hardware and electrical cabinet of the control system,connect to PC through Ethernet communication,set parameters,calibrate the zero point and coordinate system of the robot,so that the robot can work normally.Through the teaching method,the coordinates of the hole position on the flat plate are positioned,the hole position coordinates are obtained,and the human-machine interface is set.(4)Based on MATLAB software,3-5-3 polynomial interpolation algorithm was used to plan the motion trajectory between the holes.The obtained curves of velocity and acceleration of each joint variable changing with time were smooth,guaranteeing the stability of SCARA robot in the movement between the holes. |
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