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.
Skip Nav Destination
ASME 2014 Conference on Information Storage and Processing Systems
June 23–24, 2014
Santa Clara, California, USA
Conference Sponsors:
- Information Storage and Processing Systems Division
ISBN:
978-0-7918-4579-0
PROCEEDINGS PAPER
Modeling and Simulation of an Industrial SCARA Robot: Performance Evaluation Prior to Real-World Task
Mohammad Al Mashagbeh,
Mohammad Al Mashagbeh
University of Waterloo, Waterloo, ON, Canada
Search for other works by this author on:
Mir Behrad Khamesee
Mir Behrad Khamesee
University of Waterloo, Waterloo, ON, Canada
Search for other works by this author on:
Mohammad Al Mashagbeh
University of Waterloo, Waterloo, ON, Canada
Mir Behrad Khamesee
University of Waterloo, Waterloo, ON, Canada
Paper No:
ISPS2014-6923, V001T07A002; 3 pages
Published Online:
August 15, 2014
Citation
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
Download citation file:
22
Views
0
Citations
Related Proceedings Papers
Related Articles
Identification of Contact Dynamics Model Parameters From Constrained Robotic Operations
J. Dyn. Sys., Meas., Control (June,2006)
Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots
J. Dyn. Sys., Meas., Control (September,2006)
Robotic Instrumented Complaint Wrist
J. Eng. Ind (February,1992)
Related Chapters
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Design of Assembly Robot Controller Based on PROFI-BUS for Hubcap Gear-Box Pressure Assembling
Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)