• Title/Summary/Keyword: ViewPoint

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Hybrid Motion Blending Algorithm of 3-Axis SCARA Robot based on $Labview^{(R)}$ using Parametric Interpolation (매개변수를 이용한 $Labview^{(R)}$ 기반의 3축 SCARA로봇의 이종모션 제어 알고리즘)

  • Chung, Won-Jee;Ju, Ji-Hun;Lee, Kee-Sang
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.18 no.2
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    • pp.154-161
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    • 2009

  • In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.

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