Implementation of Time-Optimal Motion Planning for SCARA Robots

Chin Wei Chang, Wei Ting Chen, Ming Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The SCARA robot is a robotic arm with a simple structure, high speed, and high precision. It is widely used in the industry. This paper aims to study the optimal motion planning of a SCARA robot. The Euler-Lagrange method is used to derive the dynamic model of the system. The chosen paths are based on the straight line and the cubic spline interpolation method. The minimum-time path is planned using the phase-plane method, which can meet the torque constraints, and the phase-plane method is realized in MATLAB to obtain path commands. In a Linux-based environment, Gazebo is used to construct and simulate the dynamic model of the SCARA robot. The angular commands of every joint of a planned path are given to the plugin of Gazebo to obtain the dynamic responses. Finally, this motion planning method is tested on an EPSON's SCARA robot for the performance validation.

Original languageEnglish
Title of host publication2020 International Automatic Control Conference, CACS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728171982
DOIs
Publication statusPublished - 2020 Nov 4
Event2020 International Automatic Control Conference, CACS 2020 - Hsinchu, Taiwan
Duration: 2020 Nov 42020 Nov 7

Publication series

Name2020 International Automatic Control Conference, CACS 2020

Conference

Conference2020 International Automatic Control Conference, CACS 2020
CountryTaiwan
CityHsinchu
Period20-11-0420-11-07

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Automotive Engineering
  • Industrial and Manufacturing Engineering
  • Control and Systems Engineering
  • Control and Optimization
  • Modelling and Simulation

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