Estrategias de interpolación para la planificación de trayectorias en un robot SCARA de 2 GDL

Abstract

This article presents a systematic methodology for trajectory planning in 2-degree-of-freedom SCARA robots using linear and circular interpolation. The robot's kinematics are addressed, describing both direct and inverse equations, and algorithms for generating smooth trajectories are detailed. The G-code is explored as a tool for motion control, and Matlab software is utilized for simulations. The versatility of these concepts is emphasized, showcasing how the methodology can be applied to various types of robots. Linear and circular interpolation algorithms, along with the integration of G-code for motion control, offer a didactic approach providing a practical experience to comprehend the fundamental principles of trajectory planning.