Two-degree-of-freedom simple servo adaptive control for SCARA robot

摘要

This paper presents an application of two-degree-of-freedom simple servo adaptive control scheme in controlling DDR-type two-links SCARA robot. The SCARA robot is widely used in industries and it is generally desired to control its movement along some periodic trajectory to perform some repeated tasks. A proper control scheme is therefore required. Among various control techniques, two-degree-of-freedom simple servo adaptive control scheme possesses a prominent aspect in that it can force the systems to follow the desired reference model while the servo gain can be freely assigned to tune the disturbance rejection property independently. The simulations in applying the two-degree-of-freedom simple servo adaptive control scheme to control the SCARA robot are demonstrated to verify the applicability and effectiveness of this control technique. The effect of tuning the servo gain is also observed.