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Journals / Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi / 2023 / Cilt: 14 Sayı: 2

Model Predictive Trajectory Tracking Control of 2 DoFs SCARA Robot under External Force Acting to the Tip along the Trajectory

Sertaç Emre KARA
Osman YİĞİD
Murat ŞEN
Mesut HÜSEYİNOĞLU
Pages
325–332
Publication Date
2023-06-20
DOI
—
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

According to simulation studies, successful results were obtained.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:The robot arms often follow a certain trajectory depending on the type of end effector with functions of spray-painting, arc welding, bonding or machining etc.
📊
Key Findings & Data:In this study, a Model Predictive Control (MPC) for trajectory tracking control of a 2 Degrees of Freedom (DoFs) Selective Compliant Assembly Robot Arm (SCARA) under an external force acting to the tip of the robot along the trajectory was performed.
💡
Conclusion & Impact:According to simulation studies, successful results were obtained.
🔬Design:Modeling & Simulation
📍Scope:Comprehensive Sample
⚙️Variables:2 DoFs SCARA robot · trajectory control · model predictive control

Abstract

The robot arms often follow a certain trajectory depending on the type of end effector with functions of spray-painting, arc welding, bonding or machining etc. Therefore, trajectory-tracking control is a very important issue in robot arm applications. Also, the robot must be able to follow the determined trajectory stably under the influence of external forces or machining forces it encounters in its operations. In this study, a Model Predictive Control (MPC) for trajectory tracking control of a 2 Degrees of Freedom (DoFs) Selective Compliant Assembly Robot Arm (SCARA) under an external force acting to the tip of the robot along the trajectory was performed. The effectiveness of the MPC method used has been demonstrated by simulation applications. According to simulation studies, successful results were obtained.

Özet

The robot arms often follow a certain trajectory depending on the type of end effector with functions of spray-painting, arc welding, bonding or machining etc. Therefore, trajectory-tracking control is a very important issue in robot arm applications. Also, the robot must be able to follow the determined trajectory stably under the influence of external forces or machining forces it encounters in its operations. In this study, a Model Predictive Control (MPC) for trajectory tracking control of a 2 Degrees of Freedom (DoFs) Selective Compliant Assembly Robot Arm (SCARA) under an external force acting to the tip of the robot along the trajectory was performed. The effectiveness of the MPC method used has been demonstrated by simulation applications. According to simulation studies, successful results were obtained.

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Cite This Article

KARA, S. E., YİĞİD, O., ŞEN, M., HÜSEYİNOĞLU, M. (2023). Model Predictive Trajectory Tracking Control of 2 DoFs SCARA Robot under External Force Acting to the Tip along the Trajectory. Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi, Cilt: 14 Sayı: 2, 325–332. https://ajindex.com/articles/962730

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