Appropriate Mathematical Model of DC Servo Motors Applied in SCARA Robots

Abstract

In the first part of the presentation detailed description of the modular technical system built up of electric components and end-effectors is given. Each of these components was developed at different industrial companies separately. The particular mechatronic unit under consideration was constructed by the use of the appropriate mathematical model of these units. The aim of this presentation is to publish the results achieved by the use of a mathematical modeling technique invented and applied in the development of different mechatronic units as drives and actuators. The unified model describing the whole system was developed with the integration of the models valid to the particular components. In the phase of testing the models a program approximating typical realistic situations in terms of work-loads and physical state of the system during operation was developed and applied. The main innovation here presented consists in integrating the conclusions of professional experiences the developers gained during their former R&D activity in different professional environments. The control system is constructed on the basis of classical methods, therefore the results of the model investigations can immediately be utilized by the developer of the whole complex system, which for instance may be an industrial robot.