Research on SCARA robot sorting system based on CoDeSys

This article intends to build the SCARA robot sorting system. We analyzed the kinematics characteristics of the SCARA robot. The link coordinate system is established by D-H method, the forward and inverse kinematics equations are derived and solved. Then we developed the motion control program of SCARA robot through CoDeSys platform. The off-line simulation is realized by combining the forward and inverse kinematics with WPF 3D simulation technology. The data transmission and real-time simulation are realized by OPC DA communication technology. Finally, the camera calibration is completed by computer vision, the core, area, perimeter and contour of the workpiece are obtained by image processing.