Title :
Robust control of Scara manipulator
Author :
Majewski, P. ; Beniak, R.
Author_Institution :
Inst. of Electromech. Syst. & Ind. Electron., Opole Univ. of Technol., Opole, Poland
Abstract :
The paper presents mathematical modelling of Scara manipulator. The simulation was carried out in Matlab. In the first part of the article we present derivation of the manipulator dynamic equations. Then we describe the implementation of control law, models of engines and other components necessary to carry out the simulation. Finally, we present the results of simulation of the analyzed manipulator, by means of classic and robust control law.
Keywords :
manipulator dynamics; mathematical analysis; robust control; Matlab; Scara manipulator; manipulator dynamic equation; mathematical modelling; robust control; DC motors; Equations; Joints; Manipulator dynamics; Mathematical model; Simulation; control law; dynamic equations; manipulator; simulation results;
Conference_Titel :
Electrodynamics and Mechatronics (SCE III), 2011 3rd International Students Conference on
Conference_Location :
Opole
Print_ISBN :
978-1-4244-9694-5
DOI :
10.1109/SCE.2011.6092123
