Aiming at high-precision trajectory tracking, the dynamic model is a central issue in the control design of parallel PnP robots, which is a challenging task, since this family of the robot counterparts usually work in the domain of high frequencies. This section firstly introduces the topological structure of a parallel SCARA robot that is taken as the test bench for the control design of different control laws and trajectory planning throughout this book. Later, the equations of motion for the robot under study, in terms of rigid and coupled rigid-flexible dynamics, are built with principle of virtual work. Finally, the dynamics of the robot is verified and characterized along with an industrial testing pick-and-place trajectory.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Equations of Motion of Parallel SCARA Robot


    Contributors:

    Published in:

    Parallel PnP Robots ; Chapter : 2 ; 23-39


    Publication date :

    2025-03-25


    Size :

    17 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Automated Calibration for an Industrial Scara Robot

    Tsai, C.-K. / McGee, H. D. / Robotic Industries Association et al. | British Library Conference Proceedings | 1990


    Micro SCARA Robot for Miniature Parts Assembling

    Miyagawa, T. / Hori, K. / Hasegawa, Y. et al. | British Library Online Contents | 1997


    Implementation of Sliding Mode Control for SCARA Robot

    Lee, M. C. / Lee, J. M. / Son, K. et al. | British Library Conference Proceedings | 1995


    Dual scara arm

    PIETRANTONIO ANTONIO F / CHESNA ANTHONY / ELMALI HAKAN et al. | European Patent Office | 2015

    Free access

    Dual scara arm

    PIETRANTONIO ANTONIO F / CHESNA ANTHONY / ELMALI HAKAN et al. | European Patent Office | 2021

    Free access