Motion Control of a SCARA Robot Arm

• Main Authors: Yi-Cheng SU, 蘇奕誠
• Other Authors: Kuo-Lan SU
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/56480090818823560270

碩士 === 國立雲林科技大學 === 電機工程系 === 103 === The thesis mainly develops a SCARA robot arm. with four degrees of freedom(D,O,F) and program, the motion trajectory to finish the assigned task. The controller of the SCARA robot arm is DELTA programmable logic controller(PLC), The controller can drive four AC servo motors, and integrates driver system, to finish driver control and positioning. We program the control command to control the SCARA robot arm to catch the assigned object. The first and the second degree of the robot arm driven horizontal rotary using the shaft, ball screw spline by Delta servo motor mounted on the robot arm. The system uses two DELTA servo-motor drivers to control the two degrees of freedom. These element are in order to achieve linear Z axis of rotational movement the SCARA robot arm uses ball screw spline element. The SCARA robot arm want get positioning accuracy, repeatability, and other items We must control the robot arm on stable condition., the test project to do the testing and validation of the robot arm.