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

Sertaç Emre Kara; Osman Yiğid; Murat Şen; Mesut Hüseyinoğlu

Makale detayları

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

Yazarlar:

Sertaç Emre Kara | Osman Yiğid | Murat Şen | Mesut Hüseyinoğlu

Yayıncı:

Dicle University

Ana Başlıklar:

Makine Mühendisliği (Diğer)

Dergi:

Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.14 Issue 2, pp.325-332

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001291729

pISSN:

1309-8640

Anahtar kelimeler:

Özet:

 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 MPC for trajectory tracking control of a 2 Degrees of Freedom DoFs Selective Compliant Assembly Robot Arm 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.

 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 MPC for trajectory tracking control of a 2 Degrees of Freedom DoFs Selective Compliant Assembly Robot Arm 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.

 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 MPC for trajectory tracking control of a 2 Degrees of Freedom DoFs Selective Compliant Assembly Robot Arm 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.

 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 MPC for trajectory tracking control of a 2 Degrees of Freedom DoFs Selective Compliant Assembly Robot Arm 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.

Makale detayları

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

Yazarlar:

Sertaç Emre Kara | Osman Yiğid | Murat Şen | Mesut Hüseyinoğlu

Yayıncı:

Dicle University

Ana Başlıklar:

Makine Mühendisliği (Diğer)

Dergi:

Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.14 Issue 2, pp.325-332

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001291729

pISSN:

1309-8640

2 DoFs

SCARA robot

trajectory control

model predictive control2 DoFs SCARA robot

trajectory control

model predictive control

Sayı

Makale detayları

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

Yazarlar: Sertaç Emre Kara | Osman Yiğid | Murat Şen | Mesut Hüseyinoğlu

Yayıncı: Dicle University

Ana Başlıklar: Makine Mühendisliği (Diğer)

Dergi: Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.14 Issue 2, pp.325-332

Belge Tipi: Makale

Yayın Tarihi: 6/2023

Belge Dili: İngilizce

Document ID (Org No.): 2001291729

pISSN: 1309-8640

2 DoFs

SCARA robot

trajectory control

model predictive control2 DoFs SCARA robot

trajectory control

model predictive control

Sayı

Yazarlar:

Sertaç Emre Kara | Osman Yiğid | Murat Şen | Mesut Hüseyinoğlu

Yayıncı:

Dicle University

Ana Başlıklar:

Makine Mühendisliği (Diğer)

Dergi:

Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.14 Issue 2, pp.325-332

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001291729

pISSN:

1309-8640