Modelling and Control of SCARA manipulator

被引：13
作者：
Ibrahim, B. S. K. K. [1 ]
Zargoun, Ahmed M. A. [1 ]
机构：
[1] Univ Tun Hussien Onn Malaysia, Fac Elect & Elect Engn, Dept Mech & Robot Engn, Batu Pahat 86400, Malaysia
来源：
MEDICAL AND REHABILITATION ROBOTICS AND INSTRUMENTATION (MRRI2013) | 2014年 / 42卷
关键词：
MATLAB; SolidWorks; SCARA; PID;
D O I：
10.1016/j.procs.2014.11.040
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Nowadays manipulators are getting more complex due to the development of the motor drives and the nonlinearities of the manipulator dynamics. Due to complexity of this system, the modeling process will become more complicated especially if modeled by using mathematical representation or white box approach. Therefore Computed Aided Design (CAD) modeling approach is more suitable to be applied in this system. In this paper presents the development of the CAD model of robot arm by using SolidWorks software. Then a controller based on Proportional -integral -derivative (PID) has been designed in simulation environment by using Matlab/Simulink platform. This paper shows the advantages of the combination of MATLAB and SolidWorks. SolidWorks is able to ease the modeling process. The performance of PID controller for 4 Degree of Freedom (DOF) of SCARA (Selective Compliance Articulated Robot Arm) manipulator has been assessed for first 2 DOF and shown good results. (C) 2014 Published by Elsevier B.V.
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收藏
页码：106 / 113
页数：8
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