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Modelling and control of SCARA manipulator

Ibrahim, B.S.K.K. and Ahmed, M.A. Zargoun (2014) Modelling and control of SCARA manipulator. Procedia Computer Science, 42. pp. 106-113. ISSN 1877-0509

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Nowadays manipulators are getting more complex due to the development of the motor drives and the nonlinearities of the manipulator dynamics. Due to complexity of this system, the modeling process will become more complicated especially if modeled by using mathematical representation or white box approach. Therefore Computed Aided Design (CAD) modeling approach is more suitable to be applied in this system. In this paper presents the development of the CAD model of robot arm by using SolidWorks software. Then a controller based on Proportional-integral-derivative (PID) has been designed in simulation environment by using Matlab/Simulink platform. This paper shows the advantages of the combination of MATLAB and SolidWorks. SolidWorks is able to ease the modeling process. The performance of PID controller for 4 Degree of Freedom (DOF) of SCARA (Selective Compliance Articulated Robot Arm) manipulator has been assessed for first 2 DOF and shown good results.

Item Type: Article
Uncontrolled Keywords: MATLAB; SolidWorks; SCARA; PID
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions: Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
Depositing User: Mrs Hasliza Hamdan
Date Deposited: 13 Aug 2018 03:33
Last Modified: 13 Aug 2018 03:33
URI: http://eprints.uthm.edu.my/id/eprint/9757
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