Design and Implementation of Embedded Direct Drive SCARA Robot Controller with Resolved Motion Rate Control Method
Publish place: International Journal of Advanced Design and Manufacturing Technology، Vol: 13، Issue: 3
Publish Year: 1399
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_ADMTL-13-3_009
تاریخ نمایه سازی: 16 دی 1399
Abstract:
Most of SCARA (Selective Compliance Articulated Robot Arm) direct drive robots today are equipped with a circular feedback system. The Resolved Motion Rate Control (RMRC) method increases the accuracy and compensates the lack of movement transmission system in accurate pick and place actions. In this study, a pick-and-place SCARA robot is developed by using a developed robot manipulator arm and controlling with its designed control systems. To make the end-effector of the SCARA robot arm following desired positions with specified joint velocities, the inverse kinematics technique, known as the RMRC generates motion trajectories automatically. In this research, the kinematics method has been applied with the Jacobian pseudo-inverse or Jacobian singularity-robust inverse to generate and record the pick-and-place motion of the SCARA robot. These records are then compared with the records after using RMRC methods. Several system features like the variation of samples during 50 seconds for the first and second robot joint, and mean deviation for the detailed analysis by the controller after using RMRC motion control algorithm demonstrates the preference of RMRC method in SCARA direct drive robots.
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Authors
Shahram Dashti
Faculty of Engineering, Majlesi Branch, Islamic Azad University, Majlesi, Iran
Mohsen Ashourian
Faculty of Engineering, Majlesi Branch, Islamic Azad University, Majlesi, Iran
Farshid Soheili
Faculty of Engineering, Majlesi Branch, Islamic Azad University, Majlesi, Iran
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