Practical Applications of Agents in Robots and Evolution Population

Abstract

In the robot SCARA [John J.Craig, 1955] [1] the equation that connects the work space (x,y) with the joint space (α,β) is:

$$ \left\{ \begin{gathered} X = {\psi _1} = \cos \left( \alpha \right) + \cos \left( {\alpha + \beta } \right) \hfill \\ Y = {\psi _2} = \sin \left( \alpha \right) + \sin \left( {\alpha + \beta } \right) \hfill \\ \end{gathered} \right. $$

((10.1))

These positions are represented in Figure.10.1 where we show the mechanical system of the robot SCARA.