DocumentCode
2508694
Title
Robust control of Scara manipulator
Author
Majewski, P. ; Beniak, R.
Author_Institution
Inst. of Electromech. Syst. & Ind. Electron., Opole Univ. of Technol., Opole, Poland
fYear
2011
fDate
6-8 Oct. 2011
Firstpage
47
Lastpage
52
Abstract
The paper presents mathematical modelling of Scara manipulator. The simulation was carried out in Matlab. In the first part of the article we present derivation of the manipulator dynamic equations. Then we describe the implementation of control law, models of engines and other components necessary to carry out the simulation. Finally, we present the results of simulation of the analyzed manipulator, by means of classic and robust control law.
Keywords
manipulator dynamics; mathematical analysis; robust control; Matlab; Scara manipulator; manipulator dynamic equation; mathematical modelling; robust control; DC motors; Equations; Joints; Manipulator dynamics; Mathematical model; Simulation; control law; dynamic equations; manipulator; simulation results;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrodynamics and Mechatronics (SCE III), 2011 3rd International Students Conference on
Conference_Location
Opole
Print_ISBN
978-1-4244-9694-5
Type
conf
DOI
10.1109/SCE.2011.6092123
Filename
6092123
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