Proceedings of the 2016 3rd International Conference on Materials Engineering, Manufacturing Technology and Control

Kinematic modeling and verification for a SCARA robot

Authors
Chenhuan Feng, Guanbin Gao, Yongli Cao
Corresponding Author
Chenhuan Feng
Available Online April 2016.
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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Volume Title
Proceedings of the 2016 3rd International Conference on Materials Engineering, Manufacturing Technology and Control
Series
Advances in Engineering Research
Publication Date
April 2016
ISBN
978-94-6252-173-5
ISSN
2352-5401
DOI
10.2991/icmemtc-16.2016.180How to use a DOI?
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  -