AN2350 datasheet(9/41 Pages) STMICROELECTRONICS

Part #	AN2350

Description	Guidelines for the control of a multiaxial planar robot with ST10F276

PDF	41 Pages

Scroll/Zoom	100%

Manufacturer	STMICROELECTRONICS [STMicroelectronics]

Direct Link	http://www.st.com

Logo

9 / 41 page

AN2350

An overview on robotics

9/41

Out from the circumference, with origin (154 mm, 0 mm) and radius 51 mm, the manipulator

is able to reach a point of the workspace with two possible configurations of the joint

variables; the points inside this circumference are reachable with four possible

configurations of the joint variables as shown in Figure 5.

The center of the workspace is reachable with every orientation.

Figure 5.

A detail of the central area of the wafer handler workspace

1.2.2

Inverse kinematics

A geometric approach based on the link coordinate systems and on the manipulator

configuration has been used for the manipulator. Since we refer to the control of only one

arm (link 1 - shoulder, link 2 - elbow), the origin of the base coordinates has been placed in

such way that the z0 axis lies along the rotation axis of the revolute joint of the shoulder.

First of all, we consider the manipulator in the configuration described in the following figure.

AN2350 Datasheet(PDF) 9 Page - STMicroelectronics