스카라형 로보트의 동적 모델링과 제어 알고리듬들의 실시간 구현

Dynamic Modeling and Real-Time Implementation of Control Algorithms for a SCARA Type Robot

In this paper, we explore real-time implementation of various dynamic control algorithms, which use the different levels of the information of the dynamics, using a SCARA type robot to show the feasibility and effectiveness of such algorithms. For these purposes, the kinematics of the SCARA type robot is anayzed and the manipulator-actuator dynamic equations based on Lagrange mechanisms are derived. Experimental results indicate that computed torque technique and iterative learning control methods perform better than classical PID control and that these algorithms can be effectively applied to controlling industrial manipulators.