Modelling, Control and Simulation of a SCARA PRR-Type Robot Manipulator
| Autor: | Muhammed Enes Uk, Faris Bin Sajjad Ali Shah, Osman Eldogan, Mücahit Soyaslan |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Computer science
SCARA General Engineering Servo control 020101 civil engineering 02 engineering and technology Workspace Kinematics Servomotor Revolute joint 021001 nanoscience & nanotechnology 0201 civil engineering Computer Science::Robotics Prismatic joint Control theory Robot 0210 nano-technology |
| Zdroj: | Scientia Iranica. |
| ISSN: | 2345-3605 |
| DOI: | 10.24200/sci.2018.51214.2065 |
| Popis: | In this study, a SCARA PRR-type robot manipulator is designed and implemented. Firstly, the SCARA robot was designed according to the mechanical calculations. Then, forward and inverse kinematic equations of the robot are derived by using D-H parameters and analytical methods. The software is developed according to obtain cartesian velocities from joint velocities and joint velocities from cartesian velocities. The trajectory planning is designed using the calculated kinematic equations and the simulation is performed in MATLAB VRML environment. A stepping motor is used for prismatic joint of the robot, and servo motors are used for revolute joints. While most of the SCARA robot studies focus on RRP-type servo control strategy, this work focuses PRR-type and both stepper and servo control structures. The objects in the desired points of the workspace are picked and placed to another desired point synchronously with the simulation. So the performance of the robot is examined experimentally. |
| Databáze: | OpenAIRE |
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