Research On Trajectory Planning And Motion Controlling For SCARA Handling Robot

In the development of modern manufacturing automation industry, handling technology plays an important role. It is widely used in electronics, food, industrial automation and other small workpiece handling industry. SCARA robot application is developing rapidly in recent years, but the structure of the robot just meet the fetching and placed the shape of the workpiece is consistent, there are some limitations in some carrying some food packing application areas. the SCARA robot handling technology is put forward higher requirements.In this paper, according to the requirements of the SCARA robot handling functions, job characteristics and application fields, the 5-DOF SCARA handling robot is established , and the 3D modeling and overall scheme design is completed .The D-H coordinate system of SCARA handling robot is established, the robot relative position relationship between the connecting rod is analyzed, and the D-H parameters is listed, the analysis of the robot inverse kinematics is completed.Speed control curve, the joint space and the Descartes space trajectory planning algorithm is analyzed, S type velocity curve of single segment linear start-stop algorithm and trajectory planning algorithm scheme of the combination of S-shaped velocity curve and five times polynomial transition is determined, and the simulation of trajectory planning is carried out, the corresponding change curves is drawn. The characteristics of embedded control system and Windows CE6.0 is introduced, the hardware selection of motion controller are carried out, control system software design process are analyzed, Windows CE6.0 development environment is established, the application and the graphical user interface is developed by using VS 2008 tool, the embedded control system of SCARA handling robot is modularly designed, and the working process of part modules and the design of relevant procedure are analyzed in detail, too. The realization of the control system is studied,the VS2008 software tool environment configuration and PC communications equipment with the experiment is completed,a series of debugging work is carried out, the feasibility of control system is verified.