Research On SCARA Trajectory Planning Based On Motion Control Board Of GOOGOL TECH

The research,manufacturing and application of the industrial robot are important symbols of measuring the level of national technological innovation and high-end manufacturing,and is the key strategy to realize Made in China 2025.The industry robot has a wide range of applications,high control accuracy and relatively lower labor cost.But in the industry robot market of China,a few problems need to be solved.Due to the technology monopolizing of developed countries in Europe and Japan,the cost of industrial robot is high and the kernel program cannot be developed and transplanted,so flexible requirement in manufacturing and cost cannot be meeted.Trajectory planning algorithm is one of the core technology of software for industry robot of developed countries in Europe and Japan.Non-development of Trajectory planning algorithm limits the flexibility of enterprise manufacturing and increases the cost of bringing in industry robot of small and medium-sized manufacturing enterprises.In the view of the above problems,based on the theory of direct inverse kinematics and trajectory planning theory of straight and circular arc path,this thesis developed corresponding programs based on MFC to implement the algrith and simulation comparison which has advantages of strong transferability and high precision of calculation.A four-axis SCARA arm is designed by the way of “PC+Motion Control Board”.Based on the kinematics of geometric method,a set of PTP trajectory planning algrithm is implemented on the GTS-400-PV-G motion control board of Googoltech company and successfully applied on the platform based on visual guidance.The simulation result indicates good real-time,reliable accuracy and solid stability.This thesis firstly introduced the research review of industrial robot and detailed theories of kinematics and trajectory planning.Based on the theories,software implementation and simulation of straight and circular arc trajectory planning algorithm is made on VS2010.The design of a four-axis SCARA arm is introduced,and detailed hardware design drawing and code of the algorithm are offered.Three application cases of four-axis SCARA am based on machine vision are illustrated in the final.Through experiment and analysis of the result of simulation,the self-developed industry robot can meet the requirement of visual guidance accuracy,and with the excelence of solid stability,flexible program developing and considerably reduced cost,the using of industry robot is promoted in small and medium-sized manufacturing enterprises.