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Intergrated Control System Design of SCARA Robot Based-On Off-Line Programming  

한성현 (경남대학교 기계자동화공학부)
정동연 (경남대학교 대학원 기계설계학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.11, no.3, 2002 , pp. 21-27 More about this Journal
Abstract
In this paper, we have developed a Widows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Widows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic 1ibraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.
Keywords
Off-Line Programming System; SCARA Robot; Visual C++; Auto-teaching;
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