Research On SCARA Multi-Axis Industrial Robots Control Technology

SCARA type robot is one of the most widely used types of industrial robots,the structural feature of traditional SCARA robots is that the axis parallel is parallel.The special structure makes it particularly simple on the design of control system,it is widely used on handling,patch and other occasions,structure is portable and the speed is faster.When used for welding,hold gun directly to control is difficult for guaranteeing the accuracy of posture.Therefore,it is proposed to increase the tool axis and the positioner to coordinate the trajectory control to ensure the quality of welding?Robot control system is an important part of the robot,it is used to achieve robot movement and track control,it is also used to achieve a predetermined task.The subject used German companies CODESYS software to develop SCARA-type multi-axis industrial robot control system.HMI program is designed with WPF.The main research contents are as follows:The first part introduces the kinematics analysis of SCARA multi-axis welding robot,including space description and transformation,establish D-H coordinate system,forward and backward kinematics analysis of robot and discuss the choice of solutions at the singularity of the institution.In the second part,study the relationship between the coordinate system of SCARA multi-axis welding robot system.Establish mathematical model for vertical and orthogonal tube-tube Coherence Curve and simulate the algorithm with MATLAB robotics toolbox.The algorithm of coordinated control between robot and positioner is studied,including,posture control of end tool,control of position and posture for robot,the change of welding point on position and posture after rotation of positioner.The third part introduces the design of SCARA multi-axis robot control system based on CODESYS development platform.Including design of Jogging control,design of the teaching control,design of Speed and path control.Set up a hardware platform of SCARA multi-axis welding robot control system.The fourth part introduces the simulation model of SCARA multi-axis welding robot.The design of size is accordance strictly with the robot body,Status control is performed via axis position from the OPC communication real-time transmission.Modular design for in the different tools,in order to switch tools in different fields.The last part introduces the design of HMI about SCARA multi-axis industrial robot.Including establish communication,G code control,offline programming,track simulation and so on.