TY - GEN
T1 - Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm
AU - Albalasie, Ahmad
AU - Hussain, Irfan
AU - Horoub, Mamon
AU - Khan, Sikandar
AU - Ali, Sajid
AU - Gan, Dongming
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper presents the design, the prototype and the control of SCARA (Selective Compliance Assembly Robot Arm) to perform pick and place tasks for industrial applications. The robot has four degrees of freedom (DoFs) with a capability to carry payloads up to 1 kg with high accuracy, precision, and repeatability. The robot is designed using the CAD tools and its prototype development is carried out by manufacturing its mechanical parts (links, base) and selecting the proper off the shelf electrical (motors, controllers) and transmission components (belts, pulleys). We also present the mathematical formulation consisting of direct kinematics, inverse kinematics, and the dynamical equations of the robot. We also report a closed loop position control based on the Computed Torque Control (CTC) method. The Numerical simulations are performed in order to evaluate the performance of the robot by using the applied control technique. The future work includes the experiments on the hardware using the implemented control technique.
AB - This paper presents the design, the prototype and the control of SCARA (Selective Compliance Assembly Robot Arm) to perform pick and place tasks for industrial applications. The robot has four degrees of freedom (DoFs) with a capability to carry payloads up to 1 kg with high accuracy, precision, and repeatability. The robot is designed using the CAD tools and its prototype development is carried out by manufacturing its mechanical parts (links, base) and selecting the proper off the shelf electrical (motors, controllers) and transmission components (belts, pulleys). We also present the mathematical formulation consisting of direct kinematics, inverse kinematics, and the dynamical equations of the robot. We also report a closed loop position control based on the Computed Torque Control (CTC) method. The Numerical simulations are performed in order to evaluate the performance of the robot by using the applied control technique. The future work includes the experiments on the hardware using the implemented control technique.
UR - http://www.scopus.com/inward/record.url?scp=85084302682&partnerID=8YFLogxK
U2 - 10.1109/CYBER46603.2019.9066682
DO - 10.1109/CYBER46603.2019.9066682
M3 - Conference contribution
AN - SCOPUS:85084302682
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 70
EP - 75
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -
