Design of Control Interface for a SCARA Manipulator with Subactuated FinalEffector

摘要

The decoupled control of robots eases the generation of trajectories of position, speed and acceleration, as well as the combination of sequences of movement in the joints. The aim of this work is to develop an application for motion control, integrating a virtual model into a prototype SCARA manipulator of 4 DOF. The methodology consists: 1. Definition of the manipulator's workspace; 2. Preparation of the control diagram in LabVIEW; 3. Configuration and communication with Arduino hardware. 4. Development of the interface for simultaneous movements; 5. Configuration of the communication interface with SolidWorks. Developing such integration requires particular hardware characteristics that support simulation and communication environments between the different software mentioned, as well as the acquisition and processing of analog signals used in the control algorithm applied to the model, with Lagrange polynomials and direct and inverse kinematics modelling by the Denavit-Hartenberg method.