A control method of scara manipulator based on motion controller

Abstract

The invention provides a method for controlling an SCARA (selective compliance assembly robot arm) based on a movement controller. The method comprises the following steps of arranging the movement controller and an industrial touch screen; enabling a user to plan the movement track of the SCARA and the corresponding movement parameters through the touch screen, and storing the movement track and the parameters into the movement controller; enabling the movement controller to calculate the actual movement track of the SCARA by an algorithm corresponding to a track planning formula, and simulating the movement track in a rectangular coordinate system which is established by a virtual axis. The method has the advantage that the movement track of the SCARA and the corresponding movement parameters are directly written and planned through the touch screen, the virtual rectangular coordinate system is established by the virtual axis, and an interpolation algorithm in the movement controller is utilized, so the calculation amount is greatly reduced, the movement algorithm is greatly simplified, the development difficulty of the SCARA control system technique is decreased, the development cycle is shortened, and the cost is lower.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a motion controller-based SCARA manipulator control method. Background technique [0002] With the development of the industrialization process and the improvement of the level of production automation, the application of industrial robots is becoming more and more extensive; it plays an increasingly important role in industrial applications such as welding, handling, assembly, spraying, and palletizing. At present, SCARA manipulators are widely used in electronics, automobiles, plastics, food and other industrial fields, and its main function is to complete handling and assembly work. With the increasing complexity and precision of processing technology, SCARA manipulators often need to cooperate with other industrial equipment on the assembly line, and there will inevitably be a danger of collision with obstacles. Therefore, it is particularly important to plan the...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a motion controller-based SCARA manipulator control method for the problems of the prior art, and effectively simplifies the motion algorithm by combining the motion controller and industrial touch screen , so as to realize the control of the SCARA manipulator, and solve the problems of high technical difficulty, long development cycle and high cost of the existing SCARA control system

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