Trajectory tracking for SCARA robots with compliant transmissions: a technique to improve the positioning precision

摘要

The paper describes a method for reducing the positioning errors of a SCARA manipulator during the execution of a motion along a given trajectory; The stiffness and damping properties of the robot transmissions are considered in the mathematical model by introducing viscoelastic components between the actuators and the arms. By means of an optimization algorithm the motion laws of the actuators are modified in such a way as to minimize the mean positioning error of the end-effector along the assigned trajectory, without changing the total motion time. In order to demonstrate the feasibility of the method, some numerical results are presented and discussed in the paper.