A Novel Practical Robust Control Inheriting PID for SCARA Robot

Zhen, Shengchao; Zhao, Ziyi; Liu, Xiaoli; Feng, Chunhua; Zhao, Han; Chen, Ye‐Hwa

doi:10.1109/access.2020.3045789

Cited by 14 publications

(4 citation statements)

References 26 publications

(26 reference statements)

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“…Algebraic method utilizes algebraic equation to find joint angles from specified end-effector position in Cartesian space. However, this method is relatively slow and inadequate for a higher DOF robot and does not guarantee closed form solution [13], [14]. Geometrical approach uses theory of geometric algebra to represent rotation and orientation; this method is suitable for serial link manipulator.…”

Section: B Actuation Strategy: Inverse Kinematics and Trajectory Plan...mentioning

confidence: 99%

Performance Analysis of 4-DOF RPRR Robot Manipulator Actuation Strategy for Pick and Place Application in Healthcare Environment

Afrisal¹,

Setiyadi²,

Riyadi³

et al. 2022

Int. J. Adv. Sci. Eng. Inf. Technol.

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Direct and indirect physical contact of humans and objects become the main medium of transmissible diseases such as COVID-19. Some strategies have been proposed to mitigate the risks of infections by minimizing physical contact, such as using robotics technology. Tele-robotics is one of the sub-fields in robotics that aims to implement physical surrogates for monitoring and controlling robots from remote distances, either autonomous, semi-autonomous, or manually guided. This paper discusses experimental research for evaluating the performance of a 4-DOF robot manipulator for pick and place tasks on small medical objects, such as test tubes in table-top scenarios. The robot manipulator is designed as an RPRR manipulator and is equipped with a gripper attached to its endeffector. Inverse kinematics and trajectory planning methods have been successfully implemented in real-time. The inverse kinematic method utilizes a pseudo-inverse Jacobian solver, and the trajectory generation utilizes a sigmoid function. The performance analysis results show that pick and place missions have been demonstrated with minimum tolerable position error, which is not more than 3.5 mm. The robot manipulator can satisfy high precision during repetitive experiments and maintain its accuracy in picking and placing standard test tubes from one rack to another within its working space. The smooth trajectories of the end-effector are achieved by implementing the sigmoid function. Thus, it satisfies the requirement for handling objects with minimum vibrations even during the actuation process with maximum speed.

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Section: B Actuation Strategy: Inverse Kinematics and Trajectory Plan...mentioning

confidence: 99%

Performance Analysis of 4-DOF RPRR Robot Manipulator Actuation Strategy for Pick and Place Application in Healthcare Environment

Afrisal¹,

Setiyadi²,

Riyadi³

et al. 2022

Int. J. Adv. Sci. Eng. Inf. Technol.

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“…In this research, the 4-DOF SCARAlike robotic arm is segmented into an RRR representation (joints 1, 3, and 4) with height control in joints 2 (prismatic), as presented in Figure 4. This model segmentation can benefit in reducing computation time than using a whole direct 4-DOF inverse kinematic computation (Zhen et al, 2020).…”

Section: 𝑥̇= 𝑣 Cos 𝜃mentioning

confidence: 99%

Mobile Robotic-Arm Development for A Small-Scale Inter-Room Logistic Delivery using 2D LIDAR-guided Navigation

Afrisal

Nugraha

Nanda

et al. 2022

Teknik

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This research aims to develop a low-cost mobile robotic arm for an indoor delivery system. Current pandemic and possible future threat of communicable disease become challenging scenarios in developing an unmanned logistic delivery system with a minimum human involvement, especially for inter-room items delivery inside a highly regulated building such as in hospital, clinic, pharmaceutical, foods and beverages industries. In this paper, a prototype of mobile robotic arm is designed to achieve an autonomous level of navigation utilizing a 2D LIDAR with a guided remote monitoring and control of object selections for loading/unloading process. The mobile robotic arm is an integrated robotics system of mobile robot with an attached robotic arm in its body. The base of the mobile robotic arm utilizes a differential-drive wheels configuration equipped with wheels odometry system. The robotic arm is configured of a 4-DoF SCARA-like structure. The 2-dimensional environment map is generated using LIDAR sensor utilizing Hector SLAM method prior to navigation. The autonomous navigation is performed using a 2D LIDAR-based technique by employing an A* algorithm for path planning and tracking mechanism. Experimental works were conducted in a small building environment consisting of some rooms and narrow corridors. The result of experiments show that the prototype of mobile robotic arm can safely and effectively navigate through the testing environment, subsequently to load and unload objects from one room to another room without colliding to objects and obstacles.

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“…SCARA robots (Selective Compliance Articulated Robot Arms) are widely used in industrial tasks as well as in the teaching of robotics and in the related testing of new robot control algorithms [1][2][3][4][5]. The rapid development of the Computer, Communication and Consumer Electronics Industry (3C industry) has led also to the spread of the use of SCARA robots [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear optimal control for a 4-DOF SCARA robotic manipulator

Rigatos,

Abbaszadeh,

Cuccurullo

et al. 2024

International Conference of Numerical Analysis and Applied Mathematics: Icnaam2022

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A Novel Practical Robust Control Inheriting PID for SCARA Robot

Cited by 14 publications

References 26 publications

Performance Analysis of 4-DOF RPRR Robot Manipulator Actuation Strategy for Pick and Place Application in Healthcare Environment

Performance Analysis of 4-DOF RPRR Robot Manipulator Actuation Strategy for Pick and Place Application in Healthcare Environment

Mobile Robotic-Arm Development for A Small-Scale Inter-Room Logistic Delivery using 2D LIDAR-guided Navigation

Nonlinear optimal control for a 4-DOF SCARA robotic manipulator

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