Study On Robust Control And Simulation For The SCARA Robot

The plane articulated robot also is called SCARA assembly robot which is a kind of robot arm applied in assembly.With the high-speed development of the modern manufacturing industry, it puts forward a higher demand to the moving speed, precision and the effective load ability of the robot. These performances will be influenced by the variety of work environments and the uncertain factors, so the assemble precision will be decreased when we enhance of the performance of the robot and the complexity of work environment.This thesis firstly analyzes the structure of the robot and establishes the kinematics and dynamics models of the robot respectively on the basis of the structure and workspace of the robot.This thesis makes an effective trajectory planning and simulation using robust control to delete the uncertain influence, such as the friction of the robot, the changes of parameters and vibration during work. In the meantime, we introduced the feedforward compensation to restrain various interference factors effectively. Due to the robot system has time-varying, strong coupling and nonlinear dynamics characteristics, its control is very complicated. This thesis built up a more precise and integrated dynamic model based on the adequate analyses of model errors, load varieties and outside interferences. At the same time, this thesis uses H∞control method to study how to design controller under the interference function to make the system stable inside and make sure the effects of interference to the output is less than certain degrees hence the system will have certain robust stability.We perform simulation of the robot system by the s-function in the MATLAB. According to the dynamic equation of robot, we make a corresponding program. By the initial condition of the robot system, the joint control output via simulation is attained. The simulation shows that it can obtain a better control effect.Finally, this thesis combines the SolidWorks with the 3DSMAX software to build up the 3D entity shape of the robot, and makes use of the VRML technique in the MATLAB to import 3D model, puts up virtual simulation of the movement of robot, the results verify our dynamics analysis and control design.