Control System Design and Trajectory Planning for SCARA Robots
2014 ◽
Vol 602-605
◽
pp. 1001-1005
◽
Keyword(s):
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.
2012 ◽
Vol 186
◽
pp. 234-238
2019 ◽
Keyword(s):