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/).
Cite this article
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 -