2023
DOI: 10.24012/dumf.1289356
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Model Predictive Trajectory Tracking Control of 2 DoFs SCARA Robot under External Force Acting to the Tip along the Trajectory

Sertaç Emre KARA,
Osman YİĞİD,
Murat ŞEN
et al.

Abstract: The robot arms often follow a certain trajectory depending on the type of end effector with functions of spray-painting, arc welding, bonding or machining etc. Therefore, trajectory-tracking control is a very important issue in robot arm applications. Also, the robot must be able to follow the determined trajectory stably under the influence of external forces or machining forces it encounters in its operations. In this study, a Model Predictive Control (MPC) for trajectory tracking control of a 2 Degrees of F… Show more

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