Trajectory Analysis for SCARA Manipulator with Industrial Application

  • Yousif Al Mashhadany, Settar S. Keream, Sameer Algburi
Keywords: SCARA manipulator, Inverse kinematic solutions, Virtual Reality Model, Linear quadratic controller.

Abstract

The system included an Associate in the Nursing elbow, kaleidoscopic, and a wrist joint was joint to works within the vertical plane for real positioning of the work half that's referred to as Selective Compliance Assembly mechanism Arm (SCARA). It provides an acceptable alternative for obtaining along with missions principally. to urge higher accuracy in the industrial application, several researchers are visible on management and displaying of SCARA reasonably robot. Linear quadratic controller (LQG-controller) provides perfect control of the live and detective work vulnerability to operating a robot sideways a determined system. This paper shows the best technique to addressing SCARA 4-DOF robot movement ordering that considering the controller and the sensors will be operated during the implementation of the robot's mode. This transportation can be used to adjust the kind of the route, for an explanation by calculating the chance of maintaining a planned space from crashes. The usage of a virtual model for SCARA robot-based virtual reality (VR) with LQG controller takes into consideration improving the control frameworks of modern robots, notwithstanding proposing and approving new control frameworks. In the same direction, this paper presents the technique of plan and expansion of a robot with a SCARA proposal, which has strange application in the current-day industry. A future mode of LQG controller with SCARA robot was designed and realized in computer-created certainty condition, and it presently contains a physical stage where the assortment of control approaches can be strained and measured. The enhancement of the controller's invention, as to the electronic interface, in spite of the complexity of its structure and execution, permitted an ideal working of the total framework. This produce, many different capacities, similarly empowers the age of numerous directions for the robot. The work executes by utilizing MATLAB/SIMULINK var. 2019b, a suitable conclusion is developed which confirmed the dependence of this model as the right down-to-earth perceptive mechanical autonomy framework.

Published
2021-08-20
How to Cite
Sameer Algburi, Y. A. M. S. S. K. (2021). Trajectory Analysis for SCARA Manipulator with Industrial Application. Design Engineering, 9748- 9759. Retrieved from http://www.thedesignengineering.com/index.php/DE/article/view/3554
Section
Articles