Research On Open Control System Of SCARA Based On OSACA Model

Industrial robots are already indispensable in the manufacturing industry,especially the compact and flexible SCARA,which is becoming more and more important in high-speed operation such as assembly and palletizing.However,due to the confidentiality of the business and the diversity of hardware vendors,the existing commercial SCARA are proprietary control system structures.This type of control system structure has a long development cycle and high development cost.As a result,the development of robotics has been seriously restricted.This paper proposes a set of open control system reference model for four-axis industrial robots which is based on the OSACA reference model.The model inherits the hierarchical structure of OSACA,and has the characteristics of portability,extensibility,interoperability and scalability of open control system,at the same time,it also makes up for the shortcomings of OSACA structure,such as the lack of human-computer interaction of OSACA structure and the unreasonable hardware platform structure.In addition,in order to reduce the difficulty of robot programming and improve the efficiency of robot programming,a direct teaching scheme,which is based on structural characteristics of SCARA manipulator,is proposed.Compared with the existing direct teaching scheme,this scheme has some advantages,such as simple and easy to implement,there is no complex calculation.The main work of the thesis is as follows:Firstly,the prototype system of OSACA reference model is summarized briefly and analyzed the shortcomings of OSACA reference model.Based on the shortcomings of the OSACA reference model and the structural characteristics of SCARA manipulator,the open control system reference model of SCARA manipulator is designed.Secondly,according to the reference model,the hardware layer and application software layer of reference model are designed and implemented by adopting modern software development method.The kinematics of the SCARA manipulator is analyzed by D-H method and simulated by MATLAB.The genetic algorithm performs the optimal time trajectory planning for the SCARA manipulator and simulates it through experimental to verify that the algorithm effectively reduced the trajectory running time by 1/3.Thirdly,in order to meet the requirements of direct teaching,a set of direct teaching schemes for SCARA manipulator was designed using the principle of the clutch.This scheme makes full use of the structural characteristics of SCARA manipulator and adopts the method of local axis cutting servo to eliminate the resistance and gravity of SCARA manipulator,so that the part of the manipulator to be in a zero-force state,and the local axis can be taught directly.Finally,The SCARA robot control system was experimented.The experimental results show that the SCARA manipulator control system is stable in operation,repeatable positioning accuracy is good,and the openness is high.The direct teaching program is reasonable,which can reduce the programming time of SCARA robot by more than twice.