Detailed Analysis of SCARA-Type Serial Manipulator on a Moving Base with LabView

Kaleli, Alirıza; Dumlu, Ahmet; Corapsiz, Muhammedfatih; Erenturk, Koksal

doi:10.5772/56178

Cited by 5 publications

(3 citation statements)

References 12 publications

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“…An important subject is the validation of the results obtained in mathematical models with the application of computer packages for simulation. For example, in [18] are implemented in LabVIEW the forward kinematic and the dynamic analysis of a SCARA manipulator, whereas in [19], MATLAB is applied to solve the forward kinematics problem of a spherical manipulator by implementing a FPGA.…”

Section: Advances In Robotics and Automationmentioning

confidence: 99%

The Generalized Architecture of the Spherical Serial Manipulator

Ma¹,

Cj²,

Jg³

et al. 2016

Adv Robot Autom

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It is well known that the inverse kinematics problem for the spherical serial manipulator has been solved in the past by diverse methods; but this problem for a generalized architecture based on the Denavit-Hartenberg parameters has not been treated. Therefore, this paper considers such treatment in a geometric analysis to derive a closed-form solution of the inverse kinematics problem, whose algorithm is validated by simulating pick and place operations. With the code implementation of a novel linear tracking algorithm introduced here, this application is accomplished in real time with the aid of a development software devoted to simulate robotic applications in real time, allowing the visualization of the performance of all possible architectures including the eight types defined in this paper; It is also shown that the Stanford arm is comprised within this classification. In order to demonstrate the great potential offered by combining the algorithms released here in simulations for industrial applications requiring a quick response, a case study is presented by taking as examples, the Stanford manipulator and a spherical manipulator with generalized architecture.

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Section: Advances In Robotics and Automationmentioning

confidence: 99%

The Generalized Architecture of the Spherical Serial Manipulator

Ma¹,

Cj²,

Jg³

et al. 2016

Adv Robot Autom

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“…This study enjoys some advantages over these types of works, which include only modeling and simulation. Kaleli et al [8] and Korayem et al [9] designed a program for simulating and animating the robot kinematics and dynamics in LabView software. Similar to these works, there are various robot control, simulation, and calculation program studies in the literature [10{20].…”

Section: Introductionmentioning

confidence: 99%

Modelling, Control and Simulation of a SCARA PRR-Type Robot Manipulator

Soyaslan

Shah

et al. 2018

Scientia Iranica

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In this study, a SCARA Prismatic-Revolute-Revolute-type (PRR) robot manipulator is designed and implemented. Firstly, the SCARA robot is designed in accordance with 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 the obtained 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 the prismatic joint of the robot, and servo motors are used for revolute joints. While most of the SCARA robot studies focus on the Revolute-Revolute-Prismatic-type (RRP) servo control strategy, this work focuses on 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. Therefore, the performance of the robot is examined experimentally.

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“…Marcu et al presented a video based control system of a Fanuc M-6iB/2HS articulated robot by a CMUCam3 video camera connected to a PC [8]. Aliriza et al applied a Lagrange-Euler approach to obtain the complete dynamic model of an RRP SCARA-type serial manipulator, and they developed Virtual Instrumentation for kinematics, dynamics simulation and animation of the manipulator [9]. Schroeder et al proposed a method for mapping the measured motor current to the joint torque on a serial manipulator without joint torque sensors; the torque estimating technique allows for sensing of external forces in collision detection applications for a position controlled robot 0.…”

Section: Introductionmentioning

confidence: 99%

Position Control of a Serial Manipulator Using Fuzzy-PID Controllers

Kuo

Liu²

2015

AUSMT

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This paper presents the position control of a six-axis serial manipulator using a fuzzy-PID controller. The manipulator has six joints, and each joint is driven by a motor with an encoder used to sense the joint angle. To complete a position movement of the manipulator's end-effector, the position coordinates first need to be converted to a sets of joint angles by using the inverse kinematics of the manipulator, and each joint rotation is executed using a motor feedback control. To demonstrate the performance of the fuzzy-PID controller, a PID controller and two fuzzy controllers are also applied. The results show that the fuzzy-PID controller provides improved performance with a smaller steady state error.

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Detailed Analysis of SCARA-Type Serial Manipulator on a Moving Base with LabView

Cited by 5 publications

References 12 publications

The Generalized Architecture of the Spherical Serial Manipulator

The Generalized Architecture of the Spherical Serial Manipulator

Modelling, Control and Simulation of a SCARA PRR-Type Robot Manipulator

Position Control of a Serial Manipulator Using Fuzzy-PID Controllers

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