%0 Journal Article
	%A Giovanni Incerti
	%D 2015
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 101, 2015
	%T Motion Planning of SCARA Robots for Trajectory Tracking
	%U https://publications.waset.org/pdf/10001344
	%V 101
	%X The paper presents a method for a simple and
immediate motion planning of a SCARA robot, whose end-effector
has to move along a given trajectory; the calculation procedure
requires the user to define in analytical form or by points the
trajectory to be followed and to assign the curvilinear abscissa as
function of the time. On the basis of the geometrical characteristics
of the robot, a specifically developed program determines the motion
laws of the actuators that enable the robot to generate the required
movement; this software can be used in all industrial applications for
which a SCARA robot has to be frequently reprogrammed, in order
to generate various types of trajectories with different motion times.
	%P 827 - 836