Manufacturing of a Pick-and-Place Robot with Inverse Dynamic and Robust Controllers

摘要

In this research, designing and manufacturing of a pick-and-place robot, along with its kinematic and dynamic analysis have been introduced and surveyed. Simulations of the robot's movement and control procedure via nonlinear robust and inverse dynamic controllers are then discussed as well as the comparison of uncertainties among them as modern control methods. The main function of this robot is coating epoxy powder on "Hawle" gate valves at temperatures up to 200~∞. The results obtained in this study can greatly fulfill the need to resolve industrial problems.