Integrated SCARA robot control system with OLP and its performance evaluation

Combines a virtual robot control system and an actual one for a more convenient user interface for operating a robot. The virtual system and its environments are constructed by off-line programming software. The off-line programming software is presented and its overall performance is evaluated in a task done by the integrated robot system. An online robot joint controller is set up for a SCARA robot using a digital signal processor. A new sliding mode control algorithm is proposed to achieve robust control for variable tasks in integrated robot control systems. A performance evaluation shows that real-time tasks can be easily performed using the off-line programming software which can handle data communication and driving servo commands such as servo on/off, reset, and zero return. The trajectory tracking of the sliding mode control algorithm is evaluated by implementing it on a SCARA robot which uses a conventional PI-FF control algorithm