双臂SCARA型机器人C空间快速建立算法

A High Effective Algorithm for Configuration Space Building of Dual Arm SCARA Robot

对ＳＣＡＲＡ 型操作臂的Ｃ 空间作了深入研究，证明了凸多边形障碍物在ＳＣＡＲＡ型操作臂的Ｃ空间中形成一连通的障碍物子空间。依据此定理本论文给出一个双臂ＳＣＡＲＡ 型机器人Ｃ空间快速建立算法，算法通过了仿真实验，证明算法可行，效率较高。

A profound approach about SCARA manipulato rs configuration space is made in this paper. The obstacle space of SCARA manipulator produced by convex polygon obstacle is proved to be a connected area. With this theorem, a high effective algorithm is presented for building dual arm SCARA robots configuration space. A verification of this algorithm is made in the personal computer, and the results ascertain that the algorithm is feasible and effective.