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

被引：0
|
作者：
Chen, Guangfeng [1 ]
Yang, Yi [1 ]
Zhai, Linlin [1 ]
Zou, Kun [1 ]
Yang, Yanzhu [1 ]
机构：
[1] Donghua Univ, Coll Mech Engn, Shanghai 201620, Peoples R China
来源：
ADVANCES IN ELECTRICAL ENGINEERING AND AUTOMATION | 2012年 / 139卷
关键词：
SCARA; trajectory planning; mathematical modeling; forward and inverse solutions;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：171 / 176
页数：6
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