中文摘要：

针对目前多机器人的异型插件机控制复杂、成本高的问题，提出并设计了一种双SCARA机器人异型插件机控制系统，分别从硬件和软件两个方面进行了研究。首先，对该控制系统的载体及硬件核心-工业PC机的结构进行了介绍；其次，设计了一种基于动态系统法的无碰运动轨迹生成器，作为软件算法的核心；最后，对双SCARA异型插件机的控制流程进行了分析，并提供了双SCARA异型插件机控制系统的实例仿真。通过仿真实验，证实该控制系统是可行有效的。

英文摘要：

Aiming at the complicated control and high cost of multi-robot inserting machine, a kind of control system of the special inserting machine using dual-SCARA is proposed and designed. Both hardware and software have been described in the control system. Firstly, industrial PC is introduced, which is the carrier of this system and hardware core. Secondly, a collision-free motion path generator based on dynamical system is designed, which is the core of software algorithm. Lastly, the~ontrol procedure of dual- SCARA inserting machine is analyzed, and an example simulation of the dual-SCARA inserting machine control system is provided. The simulation experiment proves that this control system is feasible and effective.