Model Predictive Trajectory Tracking Control of 2 DoFs SCARA Robot under External Force Acting to the Tip along the Trajectory

Authors : Sertaç Emre KARA, Osman YİĞİD, Murat ŞEN, Mesut HÜSEYİNOĞLU

Pages : 325-332

Doi:10.24012/dumf.1289356

View : 95 | Download : 210

Publication Date : 2023-06-20

Article Type : Research Paper

Abstract :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 insert ignore into journalissuearticles values(MPC); for trajectory tracking control of a 2 Degrees of Freedom insert ignore into journalissuearticles values(DoFs); Selective Compliant Assembly Robot Arm insert ignore into journalissuearticles values(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.
Keywords : 2 DoFs SCARA robot, trajectory control, model predictive control