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Controlling and synchronizing a triple axis scara robot simulation in technomatix jack

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The purpose of this thesis is to develop a real time simulation of an existing SCARA robot system. The simulation will be developed in Jack software. A simplified mechanical model of the SCARA robot is created in 3D CAD software. The simulation process is designed so that it can be integrated with other existing system such as FMS Simulator Server, using Modbus RTU as the communication protocol. rnThere are two GUI software designed in this thesis, a controller and a converter. The controller program is where user input a command for the SCARA. Controller will send a message regarding what the robot should do in Modbus protocol to converter. Command from controller will be converted by converter into a self-defined protocol that can be understood by Arduino. FMS server will be bridging the data exchange between controller and converter.rnOnce the robot is moving, sensors of the actuator will read any change of position and sends all information update regarding position in one string. Jack receives the string message. After that, the message is decoded and values regarding position update are obtained. Simulation is performed based on that value in Jack Simulation.

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Availability

B01817

(Rack Thesis)

Available

Detail Information

Series Title

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Call Number

1817

Publisher

: Swiss German University., 2015

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

MT
Jack
Modbus RTU
SCARA robot
Real-time simulation
FMS Server

Specific Detail Info

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Statement of Responsibility

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