Trajectory Generation by SCARA Robotics Manipulator

Abstract

This research paper presents a trajectory path generation using forward and inverse kinematic solution of SCARA manipulator. Hermite cubic polynomial function is used for the creation of trajectory path. Denavit-Hartenberg convention is utilized for the kinematic analysis of SCARA manipulator. A computer program in MATLAB is developed for tracing the trajectory. Hermite cubic polynomial can be used to generate the smoother trajectory. The kinematic design of SCARA manipulator is applicable for various applications like pick and place, cutting, welding and other operations.