Research On Motion Analysis And Pose Error Of SCARA Robot

The robot industry will play an increasingly important role at industrial production and society and economic development, and will be the key field of technology development. Also, the research and application of robot is an important and difficult problem in our country. Based on the SCARA robot used widely in industrial robot, the paper makes expansion study around pose error.The paper describes SCARA robot’s kinematics analysis, pose error and error compensation in detail. On the kinematics analysis, after the explanation of SCARA robot’s mechanical structure, the paper builds the model with D-H method, then analyzes the DKP and IKP, and gets motion curve of joint and trajectory based on motion simulation with Matlab.On the pose error, error factors are attributed to robot structural and kinetic parameters, and then the paper makes the research on static error and dynamic error, gets error curve and error value, and analyzes the effect of parameters.On the error compensation, the paper chooses perturbation method as compensation method, explains the principles and procedures of compensation, derives the error compensation formula. Calculated and compared the error value with and without compensation, the paper verifies the feasibility of perturbation method.