Modeling, control, and simulation of a SCARA PRR-type robot manipulator

Uk, M.E.; Sajjad Ali Shah, F.B.; Soyaslan, M.; Eldogan, O.

doi:10.24200/sci.2018.51214.2065

Modeling, control, and simulation of a SCARA PRR-type robot manipulator

Document Type : Research Article

Authors

Faculty of Technology, Department of Mechatronics Engineering, Sakarya University, Sakarya, Turkey.

10.24200/sci.2018.51214.2065

Abstract

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.

Keywords

20.1001.1.10263098.2020.27.1.26.2

Main Subjects

MATLAB

References

References:

1. Soyaslan, M., Fenercioglu, A., and Kozkurt, C. "A new truck based order picking model for automated storage and retrieval system (AS/RS)", Journal of Engineering Research, 5(4), pp. 169-194 (2017).
2. Soyaslan, M., Kozkurt, C., and Fenercioglu, A. "Automated Storage and Retrieval Systems (ASRS): Research on warehouse configuration and performance studies", Academic Platform Journal of Engineering and Science - APJES, 3(3), pp. 8-26 (2015).
3. Robot Hall of Fame, "Inductees-SCARA", Carnegie Mellon University (2006). http://www. robothalloffame. org/inductees/06inductees /scara.html.
4. Visioli, A. and Legnani, G. "On the trajectory tracking control of industrial SCARA robot manipulators", IEEE Transactions on Industrial Electronics, 49(1), pp. 224-232 (2002).
5. Das, M.T. and Dulger, L.C. "Mathematical modelling, simulation and experimental verification of a SCARA bobot", Simulation Modelling Practice and Theory,13(3), pp. 257-271 (2005).
6. Alshamasin, M.S., Ionescu, F., and Al-Kasasbeh, R.T. "Kinematic modelling and simulation of a scara robot by using solid dynamics and verification by Matlab/Simulink", European Journal of Scientific Research, 37(3), pp. 388-405 (2009).
7. Urrea, C. and Kern, J. "Modelling, simulation and control of a redundant SCARA-type manipulator robot", International Journal of Advanced Robotic Systems, 9(2), p. 58 (2012).
8. Kaleli, A., Dumlu, A., Cff: orapsz, M.F., and Erenturk, K. "Detailed analysis of SCARA-type serial manipulator on a moving base with LabVIEW", International Journal of Advanced Robotic Systems, 10(4), p. 189 (2013).
9. Korayem, M.H., Yousefzadeh, M., and Manteghi, S."Tracking control and vibration reduction of flexible cable-suspended parallel robots using a robust input shaper", Scientia Iranica B, 25(1), pp. 230-252 (2018).
10. Kozkurt, C. and Soyaslan, M. "Software development for kinematic analysis of scara robot arm with Euler wrist", 6th International Advanced Technologies Symposium (IATS'11), Elazg, Turkey, pp. 27-32 (2011).
11. Kucuk, S. and Bingul, Z. "An off-line robot simulation toolbox", Computer Applications in Engineering Education, 18(1), pp. 41-52 (2009).
12. Adar, N.G. and Kozan, R. "Comparison between real time PID and 2-DOF PID controller for 6-DOF robot arm", Acta Phys. Pol. A, 130(1), pp. 269-271 (2016).
13. Adar, N.G., Tiryaki, A.E., and Kozan, R. "Real time visual servoing of a 6-DOF robotic arm using Fuzzy- PID controller", Acta Phys. Pol. A, 128(2B), pp. 348- 351 (2015).
14. Saygn, A. and Rashid, A.M. "Position control of a turret using LabVIEW", Acta Phys. Pol. A, 132(3-II), pp. 970-973(2017).
15. Karayel, D. and Yegin, V. "Design and prototype manufacturing of a torque measurement system", Acta Phys. Pol. A, 130(1), pp. 272-275 (2016).
16. Fenercioglu, A., Soyaslan, M., and Kozkurt, C. "Automatic storage and retrieval system (AS/RS) based Mechatronics, Kocaeli, Turkey, pp. 283-287 (2011).
17. Korayem, M.H., Maddah, S.M., Taherifar, M., et al. "Design and programming a 3D simulator and controlling graphical user interface of ICaSbot, a cable suspended robot", Scientia Iranica B, 21(3), pp. 663-681 (2014).
18. Sayyaadi, H. and Eftekharian, A.A. "Modeling and intelligent control of a robotic gas metal arc welding system", Scientia Iranica, 15(1), pp. 75-93 (2008).
19. Gulzar, M.M., Murtaza, A.F., Ling, Q., et al. "Kinematic modeling and simulation of an economical scara manipulator by Pro-E and verification using MATLAB/ Simulink", IEEE International Conference on Open Source Systems & Technologies (ICOSST), pp. 102-107 (2015).
20. Ibrahim, B.S.K.K. and Zargoun, A.M.A. "Modelling and control of SCARA manipulator", Procedia Computer Science, 42, pp. 106-113 (2014).
21. Urrea, C., Cortes, J., and Pascal, J. "Design, construction and control of a SCARA manipulator with 6 degrees of freedom", Journal of Applied Research and Technology, 14(6), pp. 396-404 (2016).
22. Denavit, J. and Hartenberg, R.S. "A kinematic notation for lower-pair mechanisms based on matrices", ASME J. Appl. Mechan., 77(2), pp. 215-221 (1955).
23. Bingul, Z. and Kucuk, S. "Ileri kinematik, ters kinematik", In Robot Teknigi I, pp. 104-200, Birsen Yaynevi, Turkey (2005).
24. TB6600 Stepper Motor Driver (2017).
25. Dynamixel-All in one actuator, Robotis Inc (2014).
26. Virtual Reality Modeling Language (VRML) - MATLAB & Simulink (2017).