Model-based nonlinear control applications with kinematic and dynamic analysis of 4 DoF SCARA robot manipulator

Abstract

The aim of this paper is to research and develop the model-based nonlinear control strategies (joint space position, Cartesian space position and hybrid position/force) of a 4 DoF SCARA robotic arm. To support these strategies, mathematical kinematics and dynamic equations are formulated using a dynamic model for prediction purposes. The joint space controller focuses on joint angles tracking while the end effector’s position is controlled with the Cartesian space controller. The hybrid controller allows interaction with the surface and control of the interaction force while maintaining a given Cartesian position. The motion trajectories are planned considering the kinematic model of the robotic arm. The study is employed in MATLAB Simulink where kinematic and dynamics models, trajectory generation and control blocks are integrated into a simulation environment. Results indicate that the torque limits of the robotic arm are sufficient for effective trajectory tracking within the imposed constraints. This research is of particular significance as it aims to conduct appreciable kinematic and dynamics studies of one of the most common types of 4 DoF SCARA robotic arm and develops precise model-based nonlinear controllers for the industrial robots.

Keywords

• Cartesian space
• Dynamic model
• Joint space
• Kinematic model
• Nonlinear control
• Robotic arm

References

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