Analysis of the Trajectory Planning of a SCARA Robot Using the PRM Algorithm

摘要

In Robot Cells, the robot trajectory planning is a major issue to be observed, because the accurate trajectory optimize the application cycle time. In this context, this work presents a study and simulation of robot trajectory planning using the Probabilistic Roadmap Method (PRM) algorithm. A Selective Compliance Articulated Robot Arm (SCARA) robot (TS60, Staubli) and the RoboDK post processor software are employed. In order to analyze the trajectory defined by the PRM algorithm, two scenarios are developed in RoboDK and the robot cell cycle time is measured utilizing a Python script.