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

  • Guangfeng Chen
  • Yi Yang
  • Linlin Zhai
  • Kun Zou
  • Yanzhu Yang
Conference paper
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 139)

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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References

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    Ata, A.A.: Optimal Trajectory Planning for Manipulators: A Review. Journal of Engineering Science and Technology 2(1), 32–54 (2007)Google Scholar
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    Horne, B., Jamshidi, M., Vadiee, N.: Neural Networks in Robotics: A Survey. Journal of Intelligent and Robotic Systems 3, 51–66 (1990)CrossRefGoogle Scholar
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    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)Google Scholar
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    Biagiotti, L., Melchiorri, C.: Trajectory Planning for Automatic Machines and Robots. Springer, Heidelberg (2008)Google Scholar
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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

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