Chapter

Advances in Electrical Engineering and Automation

Volume 139 of the series Advances in Intelligent and Soft Computing pp 171-176

SCARA Robot Control System Design and Trajectory Planning: A Case Study

  • Guangfeng ChenAffiliated withCollege of Mechanical Engineering, Donghua University Email author 
  • , Yi YangAffiliated withCollege of Mechanical Engineering, Donghua University
  • , Linlin ZhaiAffiliated withCollege of Mechanical Engineering, Donghua University
  • , Kun ZouAffiliated withCollege of Mechanical Engineering, Donghua University
  • , Yanzhu YangAffiliated withCollege of Mechanical Engineering, Donghua University

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Abstract

This paper conducts the study to construct the control system and trajectory planning for SCARA robot, which is used to pick the biscuits from delivery belt and place on packing line. According to the practical action requirements, defined the desired path in Cartesian space, through calculating the right angle coordinate system of key points in inverse in joint space, choose the trapezoid acceleration curve for joint space trajectory planning, generating a feasible motion control track.

Keywords

SCARA trajectory planning mathematical modeling forward and inverse solutions