Robust control of Scara manipulator

摘要

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.