Successfully developed of high-speed SCARA robot provides the possibility for fast handling. After analyzed the mechanical structure of SCARA robot, the kinematics equations were built to analyze forward and inverse kinematics problems based on modified D-H coordinate system theory. The trajectory planning was achieved by using the cubic polynomial interpolation method in joint space over the path points combined with motion parameters, the kinematics and trajectory planning were simulated by using matlab simulation platform. Simulation results show that robot parameter design is reasonable and the trajectory planning by interpolation calculation in joint space is feasible.
The Kinematic Analysis and Trajectory Planning Study of High-Speed SCARA Robot Handling Operation
Applied Mechanics and Materials ; 687-691 ; 294-299
2014-11-27
6 pages
Article (Journal)
Electronic Resource
English
SCARA Robot Control System Design and Trajectory Planning: A Case Study
Springer Verlag | 2012
|Kinematics Analysis and Trajectory Planning of SCARA Robot Based on Matlab
Springer Verlag | 2021
|Analysis of kinematic characteristics of a mobile caterpillar robot with a SCARA-type manipulator
DOAJ | 2023
|