SCARA Robot Control System Design and Trajectory Planning: A Case Study
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- 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
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.
KeywordsSCARA trajectory planning mathematical modeling forward and inverse solutions
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