Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control
نویسندگان
چکیده
منابع مشابه
Mathematical modelling, simulation and experimental verification of a scara robot
A complete mathematical model of SCARA robot (Serpent 1) is developed including servo actuator dynamics and presented together with dynamic simulation in this paper. The equations of motion are derived by using Lagrangian mechanics. Dc servo motors driving each robot joint is studied with PD controller action. Serpent 1 robot is instructed to achieve pick and place operations of three different...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2019
ISSN: 2169-3536
DOI: 10.1109/access.2019.2909657