Modeling, Simulation and Control of a Redundant SCARA-Type Manipulator Robot
نویسندگان
چکیده
منابع مشابه
Trajectory Tracking Control of a Real Redundant Manipulator of the SCARA Type
Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperb...
متن کاملA Reduced-order Observer Based Piezoelectric Control of Flexible Cartesian (scara) Robot Manipulator
An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the flexible arm to apply a controlled moment for vibration suppression requirement. Utilizing three measurable quantities (i.e., the base displacement, arm tip...
متن کاملDesign and Construction of a Manipulator Type Scara, Implementing a Control System
This paper describes the design and construction of a Robot manipulator type SCARA (Selective Compliance Assembly Robot Arm). The robots SCARA are robots of 3 degrees of freedom, uncounted the end off, designed for the assembling of pieces and the selective manipulation its control system, allows the positioning of the end effector in their points of work (control point to point PTP). For the d...
متن کاملTerminal Sliding Control for a SCARA Robot
This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of th...
متن کاملoptimal adaptive fuzzy integral sliding model control for electrically driven scara robot manipulator
in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2012
ISSN: 1729-8814,1729-8814
DOI: 10.5772/51701