Position Control and Novel Application of SCARA Robot with Vision System
Keywords:SCARA, pick-and-place, forward and inverse kinematics, vision system
AbstractIn this paper, a SCARA robot arm with vision system has been developed to improve the accuracy of pick-and-place the surface mount device (SMD) on PCB during surface mount process. Position of the SCARA robot can be controlled by using coordinate auto-compensation technique. Robotic movement and position control are auto-calculated based on forward and inverse kinematics with enhanced the intelligent image vision system. The determined x-y position and rotation angle can then be applied to the desired pick & place location for the SCARA robot. A series of experiments has been conducted to improve the accuracy of pick-and-place SMDs on PCB.
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