| Title: | OS2-3 Design and Implementation of the SCARA Robot Arm |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 71-74 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS2-3 |
| Author(s): | Jian-Fu Weng, Bo-Yi Li, Kuo-Lan Su |
| Publication Date: | January 19, 2017 |
| Keywords: | SCARA Robot arm, PLC-based controller, AC servomotors, PID controller |
| Abstract: | The article designs a four-joint SCARA robot arm using PLC-based control system. The control system (ASDASM) is all in one device to be produced by the DELTA Company, and contains four axis controllers and drivers. The robot arm contains four AC servomotors, four driver devices and a vision system. The PLC-based controller also programs motion commands of the gripper to finish the assigned tasks using Ladder Diagram (LG), Function Block Diagram (FBD), Sequential Function Chart (SFC), Instruction List (LL) and Structure Test (ST). Each driver has been tuned the parameters of the PID controller. The human machine interface (HMI) is a touch panel to be used for the robot arm. Users can control the motion path of any joint, and uses the DOPSoft language to design the human machine interface. In the experimental results, The SCARA robot arm catches a seal, and falls to stamp the assigned positions step by step, and identifies the precious of the robot arm, and moves eight objects to the assigned positions. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS2/OS2-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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