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A Direct Drive SCARA ROBOT With an Adaptive Control


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Introduction and Motivation


Abstract of the case study

Basics of SCARA Robot.

Need of an Adaptive Controller and Direct drive mechanism

Problem Statement


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


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