This paper presents a real time motion control scheme for a 2 DOF SCARA arm based on reference pulse.
The experimental set-up is composed of SCARA arm, xy-table, an optical sensor and control system, to carry out the real time motion control. Also a new inverse kinematic algorithm[5] is employed.
This experiment show that an optical sensor attached to the target (xy-table) tracks the end effector by means of [5] and system based on reference pulse. Say, while the xy-table moves along some trajectory, the SCARA arm moves to decrease the error signal obtained from the sensor.
And based on the decoupled motion scheme, hybrid motion control can be performed easily.
In addition, to improve the control performance in reference pulse system and reduce the computing time, another experiment is carried out by direct sensor feedback without assistance of CPU.
