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2 years ago in Robot Perception , Robotics By Manasa

What is the easiest path planning method for a basic SCARA robot?

What's the most straightforward path planning approach suitable for a SCARA robot's constrained movement?

Robotics SCARA_Robot

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By Adi Answered 1 year ago

For a basic SCARA robot (which operates largely in a plane), the simplest method is **joint-space point-to-point planning using linear interpolation**. Specify the start and end joint angles. Then, generate a trajectory where each joint moves linearly in time between these points. This is computationally trivial and easy to implement. For straight-line Cartesian motion, use simple inverse kinematics to convert a linear path in the XY-plane into joint trajectories. Avoid complex planners like RRT for basic tasks; stick to interpolated setpoints.

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