MODELING AND SIMULATION OF AN INDUSTRIAL SCARA ROBOT: PERFORMANCE EVALUATION PRIOR TO REAL-WORLD TASK

摘要

Industrial robots are widely used in manufacturing and automation environments. Many applications require a physical contact between the robot end-effector and the surrounding environment. Therefore, position and force control are needed. Controlling a robot, however, is successfully achieved by obtaining an accurate dynamic model of the robot. In this paper, the dynamic model of a four degree of freedom (DOF) SCARA robot is derived using MapleSim~® software. To verify the derived model, an impedance controller with specified mass, damping and stiffness is implemented to control the interaction force. In addition, MapleSim~® is successfully used to validate the control algorithm. It is shown that the robot's performance can be evaluated virtually before assigning the robot to real-world tasks.