Control System Design and Trajectory Planning for SCARA Robots
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.
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