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
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ata, A.A.: Optimal Trajectory Planning for Manipulators: A Review. Journal of Engineering Science and Technology 2(1), 32–54 (2007)
Horne, B., Jamshidi, M., Vadiee, N.: Neural Networks in Robotics: A Survey. Journal of Intelligent and Robotic Systems 3, 51–66 (1990)
Alshamasin, M.S., Ionescu, F., Al-Kasasbeh, R.T.: Kinematic Modeling and Simulation of a SCARA Robot by Using Solid Dynamics and Verification by MATLAB/Simulink. European Journal of Scientific Research 37(3), 388–405 (2009)
Biagiotti, L., Melchiorri, C.: Trajectory Planning for Automatic Machines and Robots. Springer, Heidelberg (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag GmbH Berlin Heidelberg
About this paper
Cite this paper
Chen, G., Yang, Y., Zhai, L., Zou, K., Yang, Y. (2012). SCARA Robot Control System Design and Trajectory Planning: A Case Study. In: Xie, A., Huang, X. (eds) Advances in Electrical Engineering and Automation. Advances in Intelligent and Soft Computing, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27951-5_26
Download citation
DOI: https://doi.org/10.1007/978-3-642-27951-5_26
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-27950-8
Online ISBN: 978-3-642-27951-5
eBook Packages: EngineeringEngineering (R0)