A Direct Drive SCARA ROBOT With an Adaptive Control Seminar on A Direct Drive SCARA ROBOT With an Adaptive Control By Amruta Kulkarni Isha Wasnik Manjula Sahu

Introduction and Motivation Abstract of the case study Basics of SCARA Robot. Need of an Adaptive Controller and Direct drive mechanism Problem Statement

Dynamic Modeling of SCARA Robot Euler Lagrange Method for the Dynamic Modeling, The equation is L = (KE) – (PE) 2 DOF SCARA robot has 2 links

2 equations for an and Non linear coefficients are made linear. Final dynamical equation are:

Control Law and Adaptive Law Checking Asymptotic Stability using Lyapunov function Control Law for the PD plus feedforward controller Definition and advantage of Adaptive Control Law Block Diagram of Adaptive Control Law

Algorithm for Matlab Implementation Generate reference trajectory Find reference dynamics find acceleration, velocity ,displacement for initial conditions. Apply PD controller Add reference and PD controller torque Generate acceleration , velocity and displacement . Repeat these steps for each value of reference parameters

Block Diagram of Adaptive Controller

Conclusions Complete Dynamics of 2 DOF SCARA Robot Adaptive Control Law for the direct drive SCARA robot Advantages of using Adaptive Control Implementation of 2 DOF direct drive SCARA Robot using MATLAB

References “An Adaptive Controller for a Direct Drive SCARA Robot”, an IEEE paper by Louis A Dessaint, Maarouf Saad, Bernard Hebery, and Kamal Al-Haddad. A Book on “A Mathematical Introduction to Robotic Manipulation” by Richard M. Murray, Zexiang L P, ans S. Shankar Sasrty. A book on “Web Based Control and Robotics Education” by Spyros G. Tzafestas

Thank You

Direct Drive 2 DOF SCARA Robot