SCARA Robot: Modeled, Simulated and Virtual-Reality Verified

Abstract

Articulated-morphology robots, with applications ranging from the basic to the sophisticated, have increased in importance and popularity, especially with decreasing costs of computers and increased studies on feasibility. The development of a complete mathematical model for industrial, selective compliance articulated (SCARA) robot arm including its servomotor dynamics, and simulation of the dynamics, are presented here, as are the analytical inverse kinematic problem (AIKP) and the forward kinematic solution with D-H parameters. The robot arm is built for trajectories in handling, manufacture, assembly, etc. The 3D virtual reality (VR) model realizing it builds and receives commands through a MATLAB/Simulink link, for the design to be simulated on MATLAB Version R2012a. The analytical solution of IKP and modelling under real phasic rule consideration are done here. The integrated approach improve system performance, cost-effectiveness, efficiency, dynamism, and high reality performance.