Control Software of the Spherical SCARA Robot

控制软件the spherical SCARA robot has been developed. robot is newly developed bythe investigators and has spherical coordinates. There was no established software for the robot andit is needed to develop it newly. The investigators made fundamental and applicational softwaresfor it using BASIC and C languages ona NEC PC-98个人电脑. the fundamental softwares are：向前和反向kinematics，教学，home position, jog mode, PTP control，等等。which are needed for moving the robot.The applicational softwares are：line drawing, map and figure writing, vector and dot character printingnon - contact 3-D measuring. By the latter software it made可能to measure a baseball sizedobject in 2 or 3 hours in an accuracy of +-1mm. owing to the research grant of the Ministry ofEducation, Science and Culture， the software established in a系统形式。practical application of the robot made possible。

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.