Control System Design and Trajectory Planning for SCARA Robots


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Based on STM32F407ZET6 microprocessor with ARM Cortex-M4 core, we designed a controller for servo motors and servo drivers of a 4-axis Selective Compliance Assembly Robot Arm (SCARA) robot. The forward and inverse kinematic equations are established, circular interpolation equations in three-dimensional space are derived by using the digital differential analyzer method. The adopted circular interpolation algorithm avoids to judge quadrant and feeding direction, which simplifies the program.



Edited by:

Ma J.Z., Shao Fang, L.P. Hu, J. Liu and D.M. Chen




N. N. Gao et al., "Control System Design and Trajectory Planning for SCARA Robots", Applied Mechanics and Materials, Vols. 602-605, pp. 1001-1005, 2014

Online since:

August 2014




* - Corresponding Author

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