抄録
A small SCARA robot for planar continuous path control has been developed. To realize high-speed and high-precision continuous path control, the robot was carefully designed by considering path planning, motion design, mechanism design, control system design, and teaching method design. The absolute accuracy performed by the robot is ± 0.4mm in the standard working area (about A4 paper size), and the maximum speed of 500mm/s is obtained under reasonable accuracy. The accuracy is regarded as small as one tenth (1/10) of that performed by the conventional CP robots. The design policy is described and the experimental results are reported in this paper.
