Control System Research Of SCARA Robot Based On CPAC

As the robot intensively used in industry, SCARA is mainly applied in parts handling and assembling in industrial field. In the traditional sense, robot control system mostly adopt closed architecture, which usually uses exclusive robot language and closed controller. However, the traditional architecture is hard for users to adjust and expand according to their practical functional requirements. Based on this research background, this thesis presents SCARA robot control system on the basis of CPAC motion controller. Under the open framework and guidelines, the paper makes relevant research and design on the key technologies of SCARA robot.The thesis makes detailed introductions about the background,research significance and key technology of robots. Then,the thesis addresses the relevant theories of the industrial robots,including the description of the position and posture of the work space of the robots,the transformation of coordinates,the establishment of mathematical model,the calculation of the D-H parameters,the analysis and calculation of forward kinematics and backward kinematics.This thesis presents a scheme which introduces the control system of the SCARA robots and the hardware structure of this system,including CPAC manipulator,Otostudio software,SCARA robot,teaching box,servo drivers and motor,etc,based on the soft hardware platform of Otostudio and the programmable automatic controller computer(CPAC).With the utilization of Otostudio software,developing a teaching box control program and making use of Otostudio software to write SCARA of robot control underlayer motion module,which achieved the Teach-Playback Control of robot under the Jog movement patterns.At the same time,the thesis completed the design of the UI screen of the control system.Finally, according to the features of SCARA robot, relevant amelioration has been carried out by the control strategy----the combination of fuzzy and PID controller. Having made an analysis on the strong and weak points of two controllers, a simulation experiment is implemented subsequently, which focuses on the step response of servo motor and the trajectory tracking of robot joint. Experimental results show that the control effect of the combined controller----fuzzy and PID controller has obvious advantages over exclusive PID controller.