Getting Non-Cartesian Robots Under ControlGetting Non-Cartesian Robots Under Control

This paper looks at machines with non-Cartesian movement systems. These include SCARA (Selective Compliant Assembly Robot Arm) robots, PUMA (Programmable Universal Manipulation Arm)-style arms, Delta Robots, and a variety of other These non-Cartesian mechanisms often must still operate in a Cartesian workspace, which presents special challenges. This white paper explains some basic techniques that will take you a long way toward getting these useful and common mechanisms under control.