I assume that there are two revolute and one prismatic joints in your SCARA robot.
To get the joint angles of the two revolute joints, use geometry for a given end-point locations in the x-y axes. If there are more than two revolute joints, I suggest use the DH guidelines for this.
The prismatic length of the third joint is determined by the vertical distance of the third joint from the object to be picked.
The prismatic and revolute joints can be analytically decoupled to derive the joint angles. Btw, this assumes no obstacles in the joint paths.
Hope this helps.
Sincerely,
Elmer
No, you don't need to perform a dynamic analysis for path planning. You only need the robot's kinematics. Because the dynamic analysis is for the analysis of torques and forces.
- Badges
- Science topic
- Similar topics
- Biological Science
- Molecular Biology
- Biomolecules
- Nucleic Acids
- RNA