1990 Fiscal Year Final Research Report Summary
Control Software of the Spherical SCARA Robot
| Project/Area Number |
63460081
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| Research Category |
Grant-in-Aid for General Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械工作
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| Research Institution | University of Yamanashi |
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Principal Investigator |
MAKINO H. Yamanashi Univ. F. of Engg., Professor, 工学部, 教授 (10020348)
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| Co-Investigator(Kenkyū-buntansha) |
MURATA M. Yamanashi U., F. of Engg., Assistant Prof., 工学部, 講師 (60020393)
FURUYA N. Yamanashi U., F. of Engg., Associate. Prof., 工学部, 助教授 (50126653)
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| Project Period (FY) |
1988 – 1990
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| Keywords | robot / spherical coordinates / 3-Dimensional measurement / software / motion control / offーline teaching / calibration |
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| Research Abstract |
Control software of the spherical SCARA robot has been developed. The robot is newly developed by the investigators and has spherical coordinates. There was no established software for the robot and it is needed to develop it newly. The investigators made fundamental and applicational softwares for it using BASIC and C languages on a NEC PC-98 personal computer.
The fundamental softwares are : forward and inverse kinematics, teaching, home position, jog mode, PTP control, etc., which are needed for moving the robot.
The applicational softwares are : line drawing, map and figure writing, vector and dot character printing, and nonーcontact 3-D measuring. By the latter software it made possible to measure a baseball sized object in 2 or 3 hours in an accuracy of +-1mm.
Owing to the research grant of the Ministry of Education, Science and Culture, the software was established in a systematized form. With this, practical application of the robot made possible.
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