Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 2

SCARA Related Publications

2 Development of A Jacobean Model for A 4-Axes Indigenously Developed SCARA System

Authors: C. Ardil, T.C.Manjunath

Abstract:

This paper deals with the development of a Jacobean model for a 4-axes indigenously developed scara robot arm in the laboratory. This model is used to study the relation between the velocities and the forces in the robot while it is doing the pick and place operation.

Keywords: Computer Control, Drivers, Visual Basic, Interfacing, SCARA, Jacobean, Tool Configuration Vector

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1 Trajectory Planning Design Equations and Control of a 4 - axes Stationary Robotic Arm

Authors: T.C. Manjunath

Abstract:

This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot's gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper is to design a continuous path trajectory model for the indigenously developed SCARA robot arm during its maneuvering from one point to another point (during pick and place operations) in a workspace avoiding all the obstacles in its path of motion.

Keywords: Planning, trajectory, SCARA

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