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Design of a control system for a 2-Link Planar Manipulator (SCARA)

Rutgers, P. (2009) Design of a control system for a 2-Link Planar Manipulator (SCARA). Bachelor's Thesis, Industrial Engineering and Management.

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Abstract

This research is about the design of a control system for a 2- ink horizontal planar manipulator. It starts with deriving the links between coordinate systems and joint angles (inverse kinematics). Then the derivation is shown for the dynamic models for such a manipulator. This in order to be able to simulate the arm. The models are then validated, where after the design of the control system is performed. Hereby, the principles of Passivity Based Control are used. It shows that such a system can be controlled by a relatively simple PD controller. The values of the P and D, however, are empirically determined, since they are not-predictable for a non-linear system like this. Using the PBC it is automatically proven that the PD controller delivers a stable system, where P and D are not dependent of any of the system parameters. After that the influence of some important systemparameters, like link-mass, load-mass, link-form and friction factors, on the system is studied. Then the implications of all findings are mentioned. The main conclusion is that the PD controller (with Kp,1=20000; Kd,1 = 650; Kp,2= 11000; Kd,2= 1000) is suitable for industrial applications (pick-and-place) with design cycle times of over 3,5 seconds. Then the start-up is given for the same study for a three link system, where is also proven that the same control system could be applied, although the values of the P and D should be studied again.

Item Type: Thesis (Bachelor's Thesis)
Degree programme: Industrial Engineering and Management
Thesis type: Bachelor's Thesis
Language: English
Date Deposited: 15 Feb 2018 07:31
Last Modified: 15 Feb 2018 07:31
URI: https://fse.studenttheses.ub.rug.nl/id/eprint/9099

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