The Design Of Motion Control System Of SCARA Robot Based On Linux System

Robot(robot arm)is a multi-degree-of-freedom machine capable of realizing many human-like behaviors and functions in three-dimensional space.With the rapid development of China's economy,China's demand for industrial robots,both in quantity and quality have a very high demand.Most of the existing SCARA manipulator control "PC + control card",response delay,control equipment,high cost.Linux system is a mature and stable operating system,it is its open source,stable,free of charge in the embedded system in the application of more and more widely.The use of Linux-based embedded platform as a SCARA manipulator can not only improve the real-time control system,and can reduce the cost of the control platform.In this paper,the background of the research is analyzed,and the research on the control system of manipulator at home and abroad in recent years is summarized.Then,the hardware parameters of SCARA manipulator and its mechanical structure are introduced.Based on this,the Cartesian coordinate system is set up,the kinematics analysis of SCARA manipulator is made,the working range of manipulator is drawn,and the defect removal process of trajectory is introduced.Subsequently,this paper combines software system and hardware system design,summarizes the overall plan of the robot control system,designs the software system framework,introduces the Linux system development platform and the cross compilation environment construction process.In order to achieve the production line of multiple robots of the network operation,and real-time monitoring of the operation of each robot,directly to the production management department.In this paper,we design and implement the motion control of SCARA manipulator by using Qt-based manipulator.The function and implementation method of the interface of HMI,such as login interface,device list,programming interface and IO state are introduced systematically.Multi-thread Operation Technology and TCP / IP Protocol Network Communication System Design Scheme and Implementation Method.As the most widely used drawing software,AutoCAD graphics can not bedirectly used by the robot arm system.Therefore,this paper analyzes the data structure of the DXF format file,studies the method of data extraction,and designs and summarizes the software of the arm control system software.The paper introduces the application function of the program file transfer,and then carries on the network communication and file transfer test of the embedded system of the robot arm and the UI of the robot.Finally,in order to test the practicability and reliability of the manipulator arm motion control system designed in this paper,and to test the extensiveness of SCARA manipulator,using the drawing import function of the manipulator UI and the tool compensation algorithm in NC system,The manipulator was tested for applicability.