Kinematic modeling and verification for a SCARA robot

DOI

10.2991/icmemtc-16.2016.180How to use a DOI?

Keywords

Kinematic model; SCARA robot; DH method; Simulation

Abstract

The kinematic model of robots is to describe the nonlinear relationship between the position and orientation of the end-effector and the displacement of each joint, which is an important content of robot calibration. The coordinate systems of a SCARA robot are established according to DH method, through which the structural parameters are determined. Then, the kinematic equations between the working space and the joint space are deduced by homogeneous transformation principle. The graphic and calculating model of the SCARA robot are established in Matlab. Through the comparison between graphic and calculating model, the kinematic model is verified

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chenhuan Feng
AU  - Guanbin Gao
AU  - Yongli Cao
PY  - 2016/04
DA  - 2016/04
TI  - Kinematic modeling and verification for a SCARA robot
BT  - Proceedings of the 2016 3rd International Conference on Materials Engineering, Manufacturing Technology and Control
PB  - Atlantis Press
SP  - 918
EP  - 921
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmemtc-16.2016.180
DO  - 10.2991/icmemtc-16.2016.180
ID  - Feng2016/04
ER  -