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

Halit Tirsi; Kamil Çetin

Makale detayları

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

Yazarlar:

Halit Tirsi | Kamil Çetin

Yayıncı:

Kütahya Dumlupinar University

Ana Başlıklar:

Simulation | Modelling | and Programming of Mechatronics Systems

Dergi:

Journal of Scientific Reports-A Issue 060, pp.19-37

Belge Tipi:

Makale

Yayın Tarihi:

3/2025

Belge Dili:

İngilizce

Document ID (Org No.):

2001342871

pISSN:

2687-6167

Anahtar kelimeler:

Özet:

 The aim of this paper is to research and develop the model-based nonlinear control strategies joint space position, Cartesian space position and hybrid positionforce 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 effectors 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.

 The aim of this paper is to research and develop the model-based nonlinear control strategies joint space position, Cartesian space position and hybrid positionforce 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 effectors 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.

 The aim of this paper is to research and develop the model-based nonlinear control strategies joint space position, Cartesian space position and hybrid positionforce 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 effectors 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.

 The aim of this paper is to research and develop the model-based nonlinear control strategies joint space position, Cartesian space position and hybrid positionforce 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 effectors 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.

Makale detayları

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

Yazarlar:

Halit Tirsi | Kamil Çetin

Yayıncı:

Kütahya Dumlupinar University

Ana Başlıklar:

Simulation | Modelling | and Programming of Mechatronics Systems

Dergi:

Journal of Scientific Reports-A Issue 060, pp.19-37

Belge Tipi:

Makale

Yayın Tarihi:

3/2025

Belge Dili:

İngilizce

Document ID (Org No.):

2001342871

pISSN:

2687-6167

Cartesian space

Dynamic model

Joint space

Kinematic model

Nonlinear control

Robotic arm

Sayı

Makale detayları

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

Yazarlar: Halit Tirsi | Kamil Çetin

Yayıncı: Kütahya Dumlupinar University

Ana Başlıklar: Simulation | Modelling | and Programming of Mechatronics Systems

Dergi: Journal of Scientific Reports-A Issue 060, pp.19-37

Belge Tipi: Makale

Yayın Tarihi: 3/2025

Belge Dili: İngilizce

Document ID (Org No.): 2001342871

pISSN: 2687-6167

Cartesian space

Dynamic model

Joint space

Kinematic model

Nonlinear control

Robotic arm

Sayı

Yazarlar:

Halit Tirsi | Kamil Çetin

Yayıncı:

Kütahya Dumlupinar University

Ana Başlıklar:

Simulation | Modelling | and Programming of Mechatronics Systems

Dergi:

Journal of Scientific Reports-A Issue 060, pp.19-37

Belge Tipi:

Makale

Yayın Tarihi:

3/2025

Belge Dili:

İngilizce

Document ID (Org No.):

2001342871

pISSN:

2687-6167