1. 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

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

3. 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

4. 2 equations for an and
Non linear coefficients are made linear.
Final dynamical equation are:

5. 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

6. 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

7. Block Diagram of Adaptive Controller

8. 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

9. 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

10. Thank You

11. Direct Drive 2 DOF SCARA Robot