State of Art Review on SCARA Robotic Arm

摘要

In this literature, recent development in control and performance enhancement of SCARA(Selective Compliance Articulated Robotic Arm) robotic arm is reviewed. SCARA robotic arm is very popular in the manufacturing industry for its positioning accuracy and repeatability. The SCARA robot has higher flexibility in the horizontal plane and great robustness for vertical motion. This makes the SCARA robot a perfect device for pick and place applications. In the paper, the Kinematic analysis based on DH formulation of the RPR (Revolute-Prismatic-Revolute) configuration-based SCARA robotic arm is presented. In recent years the main focus of the research was to achieve the accurate positioning of the end effector by using different control systems and process algorithms.