Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control

He, Yunbo; Mai, Xiquan; Cui, Chengqiang; Gao, Jian; Yang, Zhijun; Zhang, Kai; Chen, Xun; Chen, Yun; Tang, Hui

doi:10.1109/access.2019.2909657

Cited by 21 publications

(15 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The purpose of dynamic modelling is to predict the force and torque behaviour of the robot system with various payloads conditions [18]. From the dynamic modelling, the required torque, joint velocity, joint acceleration and joint position of the SCARA robot can be calculated and used as a reference to select a suitable actuator and transmission system [14], [19]. To design control systems, it is possible to apply the mathematical dynamic model of the SCARA robot arm's dynamic behaviour.…”

Section: B Dynamic Modellingmentioning

confidence: 99%

“…Therefore, the Neural Network consumes time and data set to train the algorithm to achieve desired performance. The well-trained Neural Network which is known as the mature algorithm can achieve better precise control compared to PID Controller [19]. The mature algorithm used estimation of position and motion error to actively tune the PID gain in dealing with the non-linear behaviour of the SCARA robot dynamic [29].…”

Section: A Ai Controlmentioning

confidence: 99%

See 1 more Smart Citation

A Review of SCARA Robot Control System

Tay

Choong

Yoong

2022

2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET)

View full text Add to dashboard Cite

In the era of industrial revolution 4.0 (IR4.0), robotics is a common automation tool to comply the repetitive and dangerous jobs for assisting the human workforce. Among the robotic arm, the SCARA robot is one of the well-established robots in the industry due to its high speed and high accuracy.To achieve good control at high speed, the controller is key to ensuring the SCARA robot at such a performance. This paper presents a brief review of the controllers and their pros and cons when applying to the SCARA robot. The reviewed controllers include PID Control, fuzzy logic control, neural networks control, sliding mode control, impedance control, adaptive control and robust control. Besides that, the review also covers the implementation of the Internet of Things (IoT) and artificial intelligence (AI) on the SCARA robot as the trend of IR 4.0.

show abstract

Section: B Dynamic Modellingmentioning

confidence: 99%

Section: A Ai Controlmentioning

confidence: 99%

A Review of SCARA Robot Control System

Tay

Choong

Yoong

2022

2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET)

View full text Add to dashboard Cite

show abstract

“…In the process of decoupling electro-hydraulic composite braking design, to make the vehicle stable, it is necessary to implement a braking force distribution control strategy that is restricted by regulations, electric motors, and battery pack characteristics [18]. In addition to the abovementioned constraints, the electric motor and battery pack also have a certain constraint on the system.…”

Section: Braking Force Distribution and Control Strategymentioning

confidence: 99%

Performance Analysis of Electronic Mechanical Assisted Braking of Environmental-Friendly Vehicles Based on Pedal Decoupling

2021

IJOMAM

View full text Add to dashboard Cite

This research aims to reduce the impact of the regenerative braking force generated by the new energy vehicle on the braking performance during regenerative braking. It mainly focuses on the braking design scheme of pedal decoupling and the corresponding pedal decoupling strategy. First, the pedal decoupling scheme is designed, and the electronic mechanical assisted braking model and the overall model of the driving vehicle are established. The model includes electromechanical booster model, active accumulator model, and hydraulic braking model. The electromechanical booster model mainly includes the permanent magnet synchronous motor model and the transmission mechanism model. Then, the pedal decoupling strategy based on the new decoupling scheme is studied, and the decoupling process is divided into three stages. According to the control requirements of each stage, the control of pressure reducing valve and the pump motor in the electronic stability program (ESP) is realized, so as to adjust the brake circuit hydraulic pressure during the decoupling process. Moreover, the decoupling current is calculated to adjust the torque of the electromechanical booster motor, so as to adjust the pedal feel. Finally, the control strategy of the electro-mechanical assist motor is designed to realize the control of the motor. The experimental results show that the designed decoupling strategy can make the master cylinder hydraulic pressure change according to the distribution result of the braking force distribution strategy under the three braking strengths of low, medium, and high, which has a good decoupling effect. In addition, the decoupling electro-hydraulic compound braking realizes the precise control of the wheel cylinder pressure and effectively recovers the braking energy. The braking energy feedback efficiency reaches 54.8%. The designed decoupling strategy provides some references for the adoption of pedal decoupling in automobile assisted braking.

show abstract

“…During the past decades, there have been many typical algorithms to build up the accurate tracking performance of robot system, such as proportional-integral-derivative (PID) control [3]- [5], robust control [6], [7], sliding mode control [8], [9], adaptive control [10]- [12], fuzzy control [13], [14], genetic algorithm and particle swarm optimization [15], [16] and so on. Each algorithm has its advantage and limitation.…”

Section: Introductionmentioning

confidence: 99%