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Proceedings Paper

Dynamic Modelling Of A SCARA Robot
Author(s): J. Perez Turiel; R. Grossi Calleja; V. Gutierrez Diez
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Paper Abstract

This paper describes a method for modelling industrial robots that considers dynamic approach to manipulation systems motion generation, obtaining the complete dynamic model for the mechanic part of the robot and taking into account the dynamic effect of actuators acting at the joints. For a four degree of freedom SCARA robot we obtain the dynamic model for the basic (minimal) configuration, that is, the three degrees of freedom that allow us to place the robot end effector in a desired point, using the Lagrange Method to obtain the dynamic equations in matrix form. The manipulator is considered to be a set of rigid bodies inter-connected by joints in the form of simple kinematic pairs. Then, the state space model is obtained for the actuators that move the robot joints, uniting the models of the single actuators, that is, two DC permanent magnet servomotors and an electrohydraulic actuator. Finally, using a computer simulation program written in FORTRAN language, we can compute the matrices of the complete model.

Paper Details

Date Published: 19 October 1987
PDF: 8 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942944
Show Author Affiliations
J. Perez Turiel, University of Valladolid (Spain)
R. Grossi Calleja, University of Valladolid (Spain)
V. Gutierrez Diez, University of Valladolid (Spain)

Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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