球面SCARA机器人示教编程系统的研究

STUDY ON A NEW TEACHING SYSTEM FOR SPERICAL SCARA ROBOT

本文介绍我室开发的新型球面ＳＣＡＲＡ机器人示教编程系统的组成、示教编程原理及提高该系统示教编程精度的措施，利用该示教系统能很方便地记录各种曲面形状，用计算机显示其三维图形；将示教信息经坐标变换，可使物体的信息转化为机器人的关节控制变量．该系统有效地解决了球面ＳＣＡＲＡ机器人在示教编程方面的困难，满足该机器人在实际应用中的示教编程的需要．由于该系统操作方便，示教精度高。

In this paper,the structure,principle and error compensation of the new robot teaching system for spherical SCARA robot were introduced. lt is convenient for the system to record the shape of various curve and curved surface, and its image may be displayed on screen, the information of the object can be translated into joint variables of a robot through coordinate transformation. The system effectively solved the problems of teaching and playback, satisfied the need in practical application for the sperical SCARA robot. Because of its easy operation, high teaching accuracy,it is possible for the system to be applied to teaching and playback for other robot.