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

  • Guangfeng Chen
  • Yi Yang
  • Linlin Zhai
  • Kun Zou
  • Yanzhu Yang
Conference paper

DOI: 10.1007/978-3-642-27951-5_26

Volume 139 of the book series Advances in Intelligent and Soft Computing (AINSC)
Cite this paper as:
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

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 

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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Guangfeng Chen
    • 1
  • Yi Yang
    • 1
  • Linlin Zhai
    • 1
  • Kun Zou
    • 1
  • Yanzhu Yang
    • 1
  1. 1.College of Mechanical EngineeringDonghua UniversityShanghaiChina