The Kinematic Analysis and Trajectory Planning Study of High-Speed SCARA Robot Handling Operation

摘要

Successfully developed of high-speed SCARA robot provides the possibility for fast handling. After analyzed the mechanical structure of SCARA robot, the kinematics equations were built to analyze forward and inverse kinematics problems based on modified D-H coordinate system theory. The trajectory planning was achieved by using the cubic polynomial interpolation method in joint space over the path points combined with motion parameters, the kinematics and trajectory planning were simulated by using matlab simulation platform. Simulation results show that robot parameter design is reasonable and the trajectory planning by interpolation calculation in joint space is feasible.