SCARA四轴机器人控制系统综述

SCARA工业机器人因速度快、精度高及机构特点,特别适合于装配工作,因而在3C、食品药品、汽车工业等生产领域有着广泛应用,如装配印刷电路板和零部件等。首先,讲解轨迹规划并对其进行分类,包括基本轨迹规划、最优轨迹规划和人工智能轨迹规划,并总结了各类方法的优点和存在的问题。其中基本轨迹规划是在关节空间进行多项式、样条曲线插补,在笛卡尔空间进行速度规划、直线和圆弧插补;最优规划包括时间最优、能量最优、冲击最优;人工智能是建立在遗传算法和机器学习的基础上对轨迹进行规划。实现轨迹规划需要控制器驱动器等硬件基础和控制策略保障轨迹跟踪,综述了现有的控制系统架构及控制方法。目前主流的控制系统包括运动控制卡型和基于工业总线型,利用工业以太网可以实现自动化系统的网络化。同时,为方便读者选择合适的SCARA机器人,介绍了国内市场的情况,并对比了一些产品的性能及优缺点。最后,对未来发展进行了展望,主要包括驱控一体型控制系统、机器人模块化及人机协作方面。

Review of SCARA Four Axis Robot Control System

SCARA robot is especially suitable for assembly work because of its high speed,high precision and mechanism characteristics,so it is widely used in 3C,food and drug,automobile industry and other production processes,such as assembling circuit boards and components.First,the trajectory planning,including basic trajectory planning,optimal trajectory planning and artificial intelligence trajectory planning was explained and classified,the advantages and disadvantages of various methods were summarized.The basic trajectory planning is polynomial and spline interpolation in joint space,velocity planning,linear and arc interpolation in Cartesian space;optimal planning includes time optimization,energy optimization and impact optimization;artificial intelligence is based on genetic algorithm and machine learning to plan trajectory.The realization of trajectory planning requires hardware foundation such as controller driver and control strategy guarantee.So the existing control system architecture and control methods were introduced.At present,the mainstream control systems include motion control card and industrial bus,and the use of industrial Ethernet can realize the networking of automation systems.At the same time,in order to facilitate readers to choose the appropriate SCARA robot,the domestic market situation was introduced,and the performance,advantages and disadvantages of some products were compared.At last,the future development was prospected,including drive-control integrated control system,modularization of robots,and human-machine cooperation.