Industrial robots are widely used in manufacturing and automation environments. Many applications require a physical contact between the robot end-effector and the surrounding environment. Therefore, position and force control are needed. Controlling a robot, however, is successfully achieved by obtaining an accurate dynamic model of the robot. In this paper, the dynamic model of a four degree of freedom (DOF) SCARA robot is derived using MapleSim® software. To verify the derived model, an impedance controller with specified mass, damping and stiffness is implemented to control the interaction force. In addition, MapleSim® is successfully used to validate the control algorithm. It is shown that the robot’s performance can be evaluated virtually before assigning the robot to real-world tasks.
- Information Storage and Processing Systems Division
Modeling and Simulation of an Industrial SCARA Robot: Performance Evaluation Prior to Real-World Task
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Al Mashagbeh, M, & Khamesee, MB. "Modeling and Simulation of an Industrial SCARA Robot: Performance Evaluation Prior to Real-World Task." Proceedings of the ASME 2014 Conference on Information Storage and Processing Systems. 2014 Conference on Information Storage and Processing Systems. Santa Clara, California, USA. June 23–24, 2014. V001T07A002. ASME. https://doi.org/10.1115/ISPS2014-6923
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