Four Axis SCARA Robot Inverse Kinematics and Solution

Ooi, Zhe Sen (2019) Four Axis SCARA Robot Inverse Kinematics and Solution. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

The aim of this research is to investigate and verified the mathematical solutions of inverse kinematics, linear and circular interpolation solutions of the extendable end-effector 4-Axis SCARA robot, to achieve the aim of formulate the inverse kinematics solution, workspace mathematical solution, mathematical solution of linear and circular interpolation for the extendable end-effector 4-Axis SCARA robot. All the solutions mentioned is verified in the graphics. The given inverse kinematics been added parameter to reviewed on the extended end-effector to find the position for continuous trajectory path planning, linear and circular interpolation and working envelope. The arm length will be a variable in the program coding to allow most type and length of SCARA robot be using. The 2D model of SCARA will be plotted in graphs to simulate the motion and to verify the objective. The algorithm that tested in the graphics had been verified the calculation of the 4-Axis SCARA with extendable end-effector, the solution allow user to configure the arm length and also right arm, right arm configuration. The table formulated to calculate each and every point will be reached by each arm for linear and circular interpolate point. The more the interpolate point the smoother the motion go. The solution of inverse kinematics equation is complex problem, in this project it has an extended arm added in to the SCARA robot as end effector. The more arm involves the more parameter and unknown needed to be solves. In this project the mathematical solution had been implied to solve the end point of the SCARA with extended end-effector, and also solve on the limitation of workspace. The program is generalizing to every SCARA robot available in market as the arm length can be configure, the inverse kinematics solution and motion interpolation will cover the extended end-effector of SCARA robot for application trajectory such as welding and obstacle avoidance. This will improve the current SCARA robot performance in continuous trajectory motion. The result shown the motion of the SCARA of X-axis and Y-axis without consideration of Z-Axis. There is possible collision between target object and the robotic arm when it is performing circular interpolation where the Arm 3 is required to rotate more than 180o. The mechanical limitation is not considered in the experiments.