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Optimal Motion Planning

A computed trajectory for a scara robot

SCARA robots are widely used in:

The robots are appreciated for their precision, robustness, speed and small footprint. An excellent planning of their motion is therefore essential.

We consider the classical two-link SCARA manipulator and place it in a rectangular domain. This domain is included in the work envelope of the robot and represents a restrictive area for the footprint of the robot.

The two-link manipulator is asked to move between two given positions in the domain, while

We have developed a software which computes the fastest trajectory that fulfills all the above-mentioned requirements. The computed trajectory is smooth, mechanically feasible and can be perfectly tracked by the feedback-controller of the robot. Moreover, the small computational time of the software enables a real-time computation of the trajectories on an embedded CPU.