Control Software of the Spherical SCARA Robot

已开发的软SCARA机器人控制软件。这个机器人是最近由研究者和有软调节器开发的。没有为机器人设计的软件，它需要开发它。调查人员为在NEC PC-98个人计算机上使用BASIC和C语言制作了基本和应用软件。基本软件包括：正向和反向动力学、教学、家庭位置、工作模式、PTP控制等。需要移动机器人的应用软件有：线条绘制、地图和数字书写、矢量和点字符打印以及非接触3-D测量。由于Later软件有可能在2或3小时内测量一个棒球大小的物体，达到+-1mm，拥有教育、科学和文化部的研究赠款，该软件已在一个系统化的表格上安装。有了这个，机器人的实际应用是可能的。

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.