Research On Motion Control Simulation Of SCARA Robot

The concept of SCARA robot and its structure are introduced at first, the kinematics is analyzed according to the characteristics of SCARA robot and the equations of kinematics are obtained; And the dynamics is also analyzed and the equations of dynamics are attained. The kinematics is also analyzed through moving frame method and the kinematic performance of volume element is defined. The kinematic character is researched through this performance iindex. Based on the analyses of kinematics and dynamics, three control strategies are designed according to PID control theory. These three strategies are ignoring gravity control, control considering gravity and torque calculating method. The technology of numerical simulation is the main method of control system design. The three control strategies are simulated by the software of MatLab. For each method, the block chart of control is drawed out at first using Simulink, then run simulation and the simulating curve is obtained. The results verify the control methods. The simulating results show that the control method which ignores gravity is the simplest and it is easy to carry out, but the contrl precision is low; The precision of torque calculating method is highes but it is more complicated than the other two methods. At last, the trajectory planning of obstacle avoidance is studied, the potential function is established. The control strategy of obstacle avoidance is designed and the simulating results verify its correction.