著者

明 愛国 張 同庄 山本 唯司 古屋 信幸 村田 誠 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.55, no.9, pp.1615-1620, 1989-09-05 (Released:2009-10-08)

参考文献数

5

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The spherical SCARA robot is a newly developed robot for the operation on curved surface, especially on a sphere. In the previous report the basic concepts and characteristics are analysed. In this report the construction and specification of the prototype of the spherical SCARA robot are discussed. Then the hardware and software for controlling the prototype are considered. An arbitrary motion curve can be used to move arms and three axes are driven synchronously by the softwared DDA to obtain smooth movement. The methods to obtain large circle path and straight line path on the sphere are shown. It is possible to obtain any other paths by the method, as an example the stitching curve of the baseball is obtained.