The Design Of Motion Control System Of Scara Robot Based On Windows Ce System

Robot is a kind of automation equipment which includes machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies. In the industrial produce, the Scara robot is widely used. Today’s control system of Robot was mostly using "PC+Control Card", the corresponding has delay and the cost is too high. If use the embedded platform based on Windows CE system, we could not only improve the real-time capability but also reduce the cost of control system. This paper expounds the process of designing a motion control of Scara robot arm based on Windows CE system.The paper is mainly consists of these parts. Firstly, it analyzes the background knowledge of this task, and gives a summarization of the research achievements of embedded motion control system which is applied to the Scara robot both at home and abroad. Secondly, it shows the basic information of hardware plantform in Scara Robot and also calculate the forward and inverse kinematics solution formulas based on the model of Scara robot. After that, it draws the work space of Scara which is important theoretical foundation of trajectory planning and use the space to decide the wrong points of trajectory plan. After that it gives the modified sine curve which is used to do with the trajectory planning of Scara and find out the method to make the trajectory plan. In order to let readers be more clear, it gives an example to explain the specified steps of trajectory planning. Finally, it shows the steps of developing software control system, which is based on the current hardware platform and relevant trajectory planning theoretical foundation. The software control system is consist of the user’s interface, basic functions of running Scara and motion curve of each joints. The system is applied in Windows CE system, which is designed by C#language. The softwate uses multi-thread technology, bitmap-drawing technology, user athourity technology and so on.This control system software has passed system test, which could meet the requirements of Scara robot’s require that the trajectory must be smooth. And then study the lastance of calling a thread, make sure the control software is a real-time system. The control system has reach goal expected.