Reseach Of The SCARA Robot Controller With Open Architecture

The robot control system can use open architecture to expand and alert function, and to make better the performance of robot. Modularization design provides the convenience of installation and maintenance and better functional reliability. The thesis design a SCARA robot controller system based on a DMC controller card and an IPC by use of the open architecture and modularization.Firstly, the technique of kinematics modeling and trajectory planning is introduced on the basis of the full analysis of the mechanical system of SCARA robot. Secondly, the open hardware architecture based on the IPC and DMC controller card is accepted by the full analysis of DMC controller card's specialty. At the same time, the SCARA robot software system based on WINDOWS 2000 operating system is developed by means of the object-oriented method integrated with the C++ language. The modularization and open architecture are guidelines of the development of software system. It is emphatically expressed that the key technology such as multithreading and the development of off-line programming system.Lastly, an approach based on the Neural Networks Algorithm without modeling is presented to groping research on dynamic compensation to improve the accuracy of robot trajectory.The design of this controller system and the run of experiment based on it present a true thing that openness and modularization expand in the SCARA robot controller system function and improve the performance of SCARA robot.