The Research On Control System Of Open Teaching SCARA Robot

So far the SCARA Robot has been used more and more widely, but most of their structures are enclosed such as special computer, special robot language etc. The structure of traditional robot heavily limits the further research and application of robot. Consequently, we've developed SCARA Robot, which applies to open structure. Described as the following: The structure of industrial PC and circuit board of the control electromotor are used in the hardware controller. The control software based on Windows2000 operating system adopts Visual C++6.0 as platform of developed software. Under the guide of the idea of the design of open structure, the article'research involves many relative key techniques.Based on analyzing the structure of SCARA teaching robot, the article analyzes the robot's motion with D-H methodology and plans the robot motion path with the method of joint space and method of Cartesian coordinate system. We've got the software and hardware model of controlling system for SCARA teaching robot. Based on ISA bus of PC and WINDOWS friendly interface and open structure, we've developed the circuit board of the control electromotor that can simultaneously controlls four servos or step entry electromotors and we've got a kind of controlling software which makes use of the advantages of Visual C++ bing convenient to visit first floor hardware and which makes use of DLL program dynamic function so that the hardware interface can be directly accessed. At the same time, it organically combines the environment of VC that faces object programming language and the math's system environment of Matlab that has powerful function of matrix calculation, symbol deduction and drawing, which reduces much work and high difficulty of the language VC programming, and also raises the precision and reliability of thecalculations. It adopts the transfer technique between the language VC and Matlab and realizes the data exchange between the language VC and Matlab, which makes the stimuli process run independently without the platform of Matlab. Because of the open structure of the software and hardware, it's convenient for user and the third party to further develop and expand its application function. We've applied SCARA teaching robot to education, which plays a good role in teaching and researching of robot.