Model predictive trajectory tracking control of 2 DoFs SCARA robot under external force acting to the tip along the trajectory
Yükleniyor...
Tarih
2023
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Dicle Üniversitesi Mühendislik Fakültesi
Erişim Hakkı
info:eu-repo/semantics/openAccess
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.
Açıklama
Anahtar Kelimeler
2 DoFs SCARA robot, Trajectory control, Model predictive control
Kaynak
Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi
WoS Q Değeri
Scopus Q Değeri
Cilt
14
Sayı
2
Künye
Kara, S.E., Yiğid, O., Şen, M. ve Hüseyinoğlu, 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, 14(2), 325-332.
