Relevant bibliographies by topics / SCARA robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'SCARA robot'

Author: Grafiati
Published: 4 June 2021
Last updated: 6 February 2022

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Journal articles on the topic "SCARA robot"

1

Yamafuji, Kazuo. "Development of SCARA Robots." Journal of Robotics and Mechatronics 31, no. 1 (February 20, 2019): 10–15. http://dx.doi.org/10.20965/jrm.2019.p0010.

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The presentation on SIGMA robot for assembly by A. d’Auria at the 7th International Symposium on Industrial Robots (ISIR) held in Tokyo in October 1977 made an immense impact on engineers studying assembly automation in Japan. The 1970s witnessed the shift from the mass production of a few types to limited production of a wide variety of products in Japan, and research started for a production system with a quick response to a given type of products and change in a quantity of production. Professor Hiroshi Makino of Yamanashi University was stimulated by SIGMA and got an idea for a robot with Selective Compliance Assembly Robot Arms (SCARA) and started working on the design for prototype 1 two months after the presentation. Further, he organized the SCARA Robot Consortium with Yamanashi University and thirteen domestic companies for three years, from April 1978 to March 1981, and had success in the development and spread of the SCARA robot in the assembly work. After the 1980s, the SCARA robot became one of the de facto standards of industrial robots in the world. In 2019, it is estimated that the SCARA robots will compromise 30% or more of industrial robots working all over the world. The author was one member of a research group as an associate professor, in Yamanashi University, and believes that it is extremely effective to discuss the needs for research and development of the SCARA robot and technological solutions thirty years after the establishment of JRM.
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Yamazaki, Yasunori. "Development and Applications of the SCARA Robot." Journal of Robotics and Mechatronics 26, no. 2 (April 20, 2014): 127–33. http://dx.doi.org/10.20965/jrm.2014.p0127.

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In the 1980s, when the author worked for Seiko Epson Corporation as a wristwatch production engineer, consumer needs had become so diversified that wristwatches had to be assembled on the same automated assembly line in small lots of about 10,000 pieces per month. Most of the robots available in those days were for processing purposes such as spot welding and were not applicable in practical terms to automated assembly lines for wristwatches in precision, speed, ease of use or cost. The prototype SCARA robot developed by the SCARA Study Group led by Dr. Hiroshi Makino, a professor at the Department of Precision Engineering at Yamanashi University, was found to be the most suitable for automated watch assembly lines. We reviewed assembly work procedures and succeeded in limiting the number of simultaneous control axes to four at a maximum and in cutting assembly costs to 60% of those of conventional processing robots. As the term “selective compliance” suggests, SCARA robots possess all of the functions necessary for stable assembly and for precision and speed. Development team members, including the author, made the most use of previous experience in developing dedicated automated assembly machines for in-house use and succeeded in developing practical SCARA robots by creating a robot language based on workers’ voice. In applications of SCARA robots, this paper introduces just two of many possible examples. One is for oiling work on manual assembly lines and the other is the TAF-M mixed-models wristwatch assembly line. In the oiling work application example, SCARA robots used for infinitesimal oiling work on a manual assembly line for small lots of luxury wristwatches have been found to be very cost-effective and useful for training operators and/or programmers for robots. The TAFM application example represents the assembly line built based on the original Seiko-Epson purpose for introducing SCARA robot development, which consists of both robots and of 52 newly developed “assembly robot cells” where most assembly work should be done. An assembly robot cell includes a SCARA robot, a main conveyor, a multiple-parts feeder, an automatic hand changer, an assembly detection unit, etc. At present, one such assembly line automatically assembles more than 100 models of wristwatches. Use of such automated assembly lines has reduced the human workforce by about 40 workers, cut costs by over 60%, and shortened delivery time by about 50%.
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Makino, Hiroshi. "Development of the SCARA." Journal of Robotics and Mechatronics 26, no. 1 (February 20, 2014): 5–8. http://dx.doi.org/10.20965/jrm.2014.p0005.

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The Selective Compliance Assembly Robot Arm, or SCARA, is an industrial robot typical of those widely used in assembly processes. It was invented by Professor Makino of the University of Yamanashi, Japan, the author of this report, and developed by him in collaboration with his colleagues and industrial partners. The first prototype of the SCARA robot was built in 1978. Fundamental studies were done on the characteristics and usability of this prototype and the second one, built in 1980. In 1981, some industrial partners began to market their own versions of the SCARA. These models were called SCARA-type robots. This report recounts mainly the first stage of the development of the SCARA.
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Verma, Varnita, A. Gupta, M. K. Gupta, and P. Chauhan. "Performance estimation of computed torque control for surgical robot application." Journal of Mechanical Engineering and Sciences 14, no. 3 (September 30, 2020): 7017–28. http://dx.doi.org/10.15282/jmes.14.3.2020.04.0549.

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In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SCARA dynamic model is derived from Euler Lagrange. In order to achieve trajectory tracking the Computed Toque Control technique (CTC) applied to the SCARA manipulator. The performance of the CTC technique for trajectory tracking of each joint of the SCARA robot has evaluated in contrast with tuned PD and PID controller. The simulation results were discussed and verified using MATLAB simulation software.
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MAYUB, AFRIZAL, IVAN SYAHRONI, FAHMIZAL FAHMIZAL, and MUHAMMAD ARROFIQ. "Kinematika dan Antarmuka Robot SCARA Serpent." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 8, no. 3 (August 27, 2020): 561. http://dx.doi.org/10.26760/elkomika.v8i3.561.

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ABSTRAKPenelitian ini menyajikan kendali pergerakan posisi dari robot SCARA Serpent menggunakan persamaan kinematika dan antarmuka berbasis Processing IDE. Antarmuka bertujuan untuk memudahkan dalam pengendalian robot SCARA Serpent dan mendapatkan data koordinat objek. Data ini digunakan sebagai masukan persamaan kinematika balik untuk menentukan besar sudut tiap joint. Untuk mendapatkan hasil pergerakan robot SCARA Serpent yang baik, kendali Proporsional, Integral, Differensial (PID) diterapkan dalam mengendalikan posisi setiap joint-nya. Pada pengujian, robot SCARA Serpent diuiji dengan tiga pengujian, yaitu pengujian sudut joint, pengujian koordinat end-effector, dan pengujian kendali PID. Dari hasil pengujian, sistem dapat berjalan dengan baik. Hasil parameter kendali PID diperoleh dengan tuning secara eksperimental dengan parameter Kp=5.5, Ki=0.001 dan Kd=10 untuk sudut joint shoulder pada robot SCARA Serpent menuju error steady state bernilai nol.Kata kunci: SCARA Serpent, Kinematika, Antarmuka, Kendali PID. ABSTRACTThis paper presents position control of the SCARA Serpent robot using kinematics equations and Processing IDE-based interfaces. The interface aims to make it easier in controlling the SCARA Serpent robot and to get object coordinate data. This data are used as input to the reverse kinematics equation to determine the angle of each joint. To get good SCARA Serpent robot movement results, Proportional, Integral, Differential (PID) control is applied in controlling the position of each joint. In the testing, the SCARA Serpent robot is tested with three tests, namely joint angle testing, end- ffector coordinate testing, and PID control testing. From the test results, the system can run well. The results of the PID control parameters were obtained by experimental tuning with parameters Kp = 5.5, Ki = 0.001 and Kd = 10 for the joint shoulder angle of the SCARA Serpent robot towards zero steady state error.Keywords: SCARA Serpent, Kinematics, Interface, PID Controller.
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Tsuneta, Haruhiro. "Development of robots for selling. SCARA Robot." Journal of the Robotics Society of Japan 13, no. 6 (1995): 772–75. http://dx.doi.org/10.7210/jrsj.13.772.

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Peter, Marcinko, and Juruš Ondrej. "AN EXPERIMENTAL WORKPLACE WITH SCARA ROBOT." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 4 (14) (2018): 216–22. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-216-222.

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Urgency of the research. Interest in this subject is aroused because, in the available sources, this kinematic structure is the least documented, even though it is required in certain applications (fast assembly of small parts,...). Target setting. The main goal was to design a workplace with a Scara robot. This workplace is used by the student to verify their theoretical knowledge gained from lectures in practice. They can try programming the robot, but also work with the camera system. Actual scientific researches and issues analysis. In 1961, (USA) the first industrial robot Unimate was put into the industrial practise for General Motors for welding of vehicle body. Since this industrial robot deployment has gone on for many years and many changes have been made in the field of industrial robotics in terms of mechanical properties and industrial robot control systems, taking account the requirements of applications in technical practise. Uninvestigated parts of general matters defining. This article focuses on analysis of the proposed of workplace with robot of kinematic structure Scara and parts of workplace. The research objective. The aim of the research was to design and assembly workplace with robot Scara with camera system by Omron. The statement of basic materials. The analysis consists of basic information about kinematic structure of Scara robots. Based on this knowledge the 3D model of workplace and parts is described. Conclusions. The robot workplace with the Scara robot and the Omron F150 camera system is designed for students to verify the theoretical knowledge gained from the lectures in practice. At the same time, the workplace can be used to solve and verify the knowledge in solving various projects related to the use of CCTV systems in a robotic workplace. Due to longterm use of the workplace in the educational process, where students were able to intervene in software and hardware equipment, several parts of the workplace were damaged. The next step is to upgrade the entire workplace.
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Yamafuji, Kazuo. "Celebrating JRM Volume 20 and Three Epoch-making Robots from Japan." Journal of Robotics and Mechatronics 20, no. 1 (February 20, 2008): 3. http://dx.doi.org/10.20965/jrm.2008.p0003.

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The Journal of Robotics and Mechatronics is celebrating its 20th volume since its launch in 1989. As the JRM’s founding Editor-in-Chief, I would like to express my heartfelt gratitude to all of those persons and organizations that have helped make the JRM so successful. This is also a time for celebrating the development of three epoch-making robots in Japan between 1978 and 1997. Scara Robot: The Scara robot was developed in 1978 by Professor Hiroshi Makino of Yamanashi University and four Japanese companies – Fujitsu, Telmec, Ultrasonic Ind. Co., and Sankyo. As John Hartley wrote in ""The Industrial Robot"" (March 1982, UK), ""More startling, perhaps, was the announcement that IBM was to sell Sankyo Skilam robot in the USA as the IBM 7535. Most of Japanese robots were based on overseas designs. The exception, of course, is the Scara robot.” The Scara was honored as the first Japanese robot dedicated at the Robotic Pavillion at Carnegie Mellon University in 2006. Parallel Bicycle Robot: The parallel bicycle (PB) robot developed in 1986 by Professor Kazuo Yamafuji of the University of Electro-Communications was driven by a parallel bicycle consistting of a pair of parallel wheels and an inverted pendulum body supported on the wheel axis. The PB robot has been applied both to locomotion for mobile robots and to personal vehicles. It was first successfully commercialized as the Segway Personal Transporter developed by Dean Kamen in 2001 in the US. Applications to a humanoid drive were realized by Toyota in 2004 and by Hitachi in 2007. Biped Walking Robot: Honda introduced its epoch-making humanoid P2 with biped and double hand in 1997. Driven by an on-board battery, the biped robot walked smoothly for over 30 minutes at 4 km/h similar to a human being. Honda P2 movie surprised and delighted people worldwide, and its release of ASIMO in 2002 was an advanced type of P2. ASIMO has became the de facto standard of the biped humanoid and is expected to have many applications in social and industrial environments.
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ElMaraghy, H. A., and B. Johns. "An Investigation Into the Compliance of SCARA Robots. Part I: Analytical Model." Journal of Dynamic Systems, Measurement, and Control 110, no. 1 (March 1, 1988): 18–22. http://dx.doi.org/10.1115/1.3152641.

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A special class of robots suited for assembly tasks called SCARA (Selective Compliance Assembly Robot Arm) provides a degree of built-in flexibility due to robot structure. In such robots there are three revolute joints and a prismatic joint. They offer four degrees of freedom consisting of rotation about two vertical and parallel axes at the revolute joints, and translation and rotation about the tool axis. Some models offer additional degrees of freedom at the end effector. Structural compliance can arise due to the stiffness of the robot links, drive system, grippers as well as the assembled parts. The largest effect is due to the drive torsional stiffness followed by the grippers, workpieces and the robot tool link. Knowledge of the inherent flexibility is extremely useful in designing tooling and fixtures, in laying out the assembly work cell according to the amount of compliance available in various regions of the robot work envelope, in guarding against wedging and jamming and in specifying external Remote Centre Compliance devices (RCC) if necessary. In this paper the various sources of compliance built into a SCARA robot system are outlined together with their relative significance. A mathematical model which expresses the end effector deflection as a function of the robot Jacobian and the drive compliance parameters in Cartesian coordinates has been developed. The modified generalized assembly force model developed for the Selective Compliance Assembly Robot Arms (SCARA), used in this investigation, is described. Constraints required to prevent jamming and wedging of parts during assembly are outlined. The application of this compliance model for both rotational and prismatic part insertion is described. The conditions required to obtain true or semi-compliance centres for the SCARA robot end effector are derived and discussed.
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Shi, Lei, Yi Chun Jiang, and Zhong Quan Jing. "A Kinematic Simulation Environment for a 4-DOF SCARA Robot." Advanced Materials Research 338 (September 2011): 766–69. http://dx.doi.org/10.4028/www.scientific.net/amr.338.766.

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Kinematic simulation for robot is on of the important research. In this paper, 3D model of SCARA robot is build in Pro/E. And then a method of transferring Scara models in Pro/E to MATLAB is carried out . In addition , Typical D-H method is applied to set up the kinematics model of SCARA robot in this paper . Forward and inverse kinematic is computed for satisfied the need of position and posture of the SCARA robot . The results of the kinematic simulation shows the validity and facilities of the programs .
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Dissertations / Theses on the topic "SCARA robot"

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Baydono, Ibrahim, and Johan Hultenheim. "Picassos arm : En ritande SCARA-robot." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296332.

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En SCARA-robot som ritar kräver en hög noggrannhet och precision. Syftet med detta projekt är att skapa en robotarm som kan rita bilder som generas av en användare i ett ritprogram, armens rörelse beräknas med hjälp av inverskinematik. Projektet undersöker hur precisionssäker roboten är samt dennes snabbhet. Under projektets gång har upprepade tester gjorts för att mäta dessa egenskaper. Roboten uppnådde en hög grad av noggrannhet när den gjorde punkter på samma ställe upprepade gånger, men den har svårt att med hög precision återskapa bildens korrekta geometri, detta visas med ett test då den skall rita en cirkel. Detta kan bero på flera olika faktorer. Det mest sannolika är att det finns glapp i armarnas kuggremsdrift, när roboten gör en cirkulär rörelse så uppkommer felet när någon av armarna byter rörelseriktning. I rapporten redogörs hur roboten har konstruerats och programmerats.
A SCARA-robot that draws requires a high level of precision and accuracy. This project aims to build a three degree of freedom robot arm that uses inverse kinematics, to draw a picture that has been assigned to it. The project explores the robot’s accuracy as well as its speed. Several measurements were conducted during the project to assess the Robot Arm’s reliability. When the robot makes points in the same position several times, it achieves near-perfect precision, but it has trouble recreating the proper geometrics of the picture being drawn. It may be caused by a variety of factors, it is most likely caused by a play in the timing belt. When the robot performs a circular movement, the problem arises when one of the arms switches its direction. In this paper, the robot’s construction and programming are described.
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Rybár, Šimon. "Konstrukce průmyslového robotu typu "SCARA" s elektrickými pohony základního kinematického řetězce, umístěnými na základně robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-254412.

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The theme of the thesis is a structural design of the robotic system SCARA. Thesis at the start clarifies the definition of robots and industrial robots. Next it deals with kinematic structures, from basic to more advnced structures, including SCARA type robot. The next chapter describes parts used in design of industrial robots. In the fourth chapter, the table provides an overview of currently available SCARA robots and their attributes. The rest of the thesis itself consists of machine design from determining the required parameters to 3D design. This section also contains extensive computational parts and justifies the choice of the components.
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Ndita, Jean. "Développement d'une interface de contrôle et d'identification de robot «Application : Robot IBM 7576 type scara»." Thesis, Université Laval, 2006. http://www.theses.ulaval.ca/2006/23899/23899.pdf.

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Jean, Ndita. "Développement d'une interface de contrôle et d'identification de robot : "application : robot IBM 7576 type scara"." Master's thesis, Université Laval, 2006. http://hdl.handle.net/20.500.11794/18415.

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Baharin, Iskandar Bin. "Kinematics, dynamics and vision sensing in a modified SCARA-type robot." Thesis, University of Bradford, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.292625.

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BALDHAGEN, FREDRIK, and ANTON HEDSTRÖM. "Chess Playing Robot : Robotic arm capable of playing chess." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279829.

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The purpose of this thesis was to create a robot that through the use of visual recognition and robotics could play chess.The idea for this project came from the fact that there is an increasing demand for smart robots that can make their own decisions in a changing environment, and the fact that chess has recently seen a surge of new players. The optimal design of the arm making the moves was decided to be of SCARA type, which is a common robotic arm that excels in pick-and-place operations. The movement of the arm was driven by two stepper motors connected to a Raspberry Pi and an external power supply. Movement in the Z-direction was achieved through the use of a servo motor driving a gear rack vertically. A camera was placed above the chessboard, and through the use of numerous programs and functions, images were converted to chess notation which was then sent to a chess engine running on the Raspberry Pi. The visual recognition worked optimally when the chessboard was well and evenly lit. When lighting was poor, values that defined colors could be changed, allowing for proper evaluation of the colors, however when the illuminance dropped below 15 lux the blue pieces became indistinguishable from the black squares and therefore the visual recognition stopped working.
Syftet med det här examensarbetet var att skapa en robot som genom användning av bildigenkänning och robotik kunde spela schack. Idén till detta projekt kom från det faktum att det finns ett ökande behov av smarta robotar som kan fatta sina egna beslut i en förändring miljö och det faktum att schack nyligen har sett en ökning av nya spelare. Den optimala utformningen av armen som flyttar pjäserna beslutades vara av SCARA-typ, som är en vanlig robotarm som utmärker sig i ’pick-and-place’ operationer. Armens rörelse drivs av två stegmotorer anslutna till en Raspberry Pi och en extern strömkälla. Rörelse i Z-riktningen uppnåddes genom användning av en servomotor som drev en kuggstång vertikalt. En kamera placerades ovanför schackbrädet, och genom användning av flera program och funktioner konverterades bilder till schacknotation som sedan skickades till en schackmotor som körs på Raspberry Pi. Bildigenkänningen fungerade optimalt när schackbrädet var väl och jämnt upplyst. När belysningen var dålig kunde värden som definierade färger ändras för att möjliggöra korrekta utvärderingar av färgen, men när belysningsnivån sjönk under 15 lux blev de blå pjäserna oskiljbara från de svarta rutorna och programmet slutade därför att fungera
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Pal, Surinder. "Design and remote control of a Gantry mechanism for the SCARA robot." [College Station, Tex. : Texas A&M University, 2007. http://hdl.handle.net/1969.1/ETD-TAMU-1570.

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Farah, Jacques. "Développement d'une loi de commande avancée pour la maitrise des vibrations des robots sériels à liaisons flexibles." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC002/document.

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De nos jours, les exigences en productivité dans le monde industriel imposent aux robots un comportement optimal en termes de précision géométrique et dynamique, et en termes de temps de réponse. Ainsi, la présence des flexibilités dans les liaisons pivots des structures mécaniques légères se déplaçant à grande vitesse et sous charges importantes peut limiter dynamiquement la précision et le temps de stabilisation sur la pose finale du robot. La problématique traitée dans ces travaux concerne la maîtrise des vibrations des robots sériels à liaisons flexibles durant les opérations de prise et dépose (Pick and Place).Dans ces travaux, nous effectuons une modélisation et une identification expérimentale des paramètres géométriques et dynamique d’un robot à liaisons flexible. Ce modèle sera utilisé dans la synthèse d’une loi de commande basée modèle dédiée aux robots à flexibilité articulaire. Cette stratégie permet de réduire les vibrations lors des phases exigeantes dynamiquement. Des simulations sur un robot Scara sont alors conduites pour valider la pertinence de cette loi de commande qui intègre un modèle des flexibilités présentes dans les liaisons pivots dans le schéma de commande. Nous appliquons sur le même simulateur du robot à liaisons flexibles trois autres stratégies de commande afin de faire une comparaison (commande PD, commande dédiée aux robots rigides et commande ne considérant pas les amortissements). Le schéma de la loi de commande basée modèle permet de respecter la précision de pose finale avec une diminution du temps de stabilisation. Finalement, Le calcul de l’erreur d’asservissement nous a permis de constater l’influence des erreurs de modélisation de la flexibilité sur la précision de la tâche. Dans ce contexte, une analyse de sensibilité aux paramètres influents est établie
Nowadays, the demand of productivity in the industrial world of robotics require robots to behave optimally in terms of geometric and dynamic accuracy and response time. Thus, the presence of flexibilities in rotational joints can dynamically limit the position control of manipulators having lighter arms, higher payload-to-weight ratio and doing tasks at high speed. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks. In this work, we carry out modelling and experimental identification of the geometric and dynamic parameters of a robot with flexible joints. This model is then used in the synthesis of a model-based control law dedicated to manipulators with flexible joints. This strategy reduces vibrations resulting from joints sensitivity during dynamically demanding phases. Simulations on a Scara robot are then conducted to validate the relevance of the proposed control law which integrates joint flexibilities in the form of a feedback loop in the control diagram. To this end, three other control strategies (PD control, control dedicated to rigid structures and control not considering damping) are applied to the same simulator in order to make a comparative analysis. The diagram of the model-based control law allows to respect the set point with a reduction in the stabilization time.Finally, the calculation of the servo error allowed us to see the influence of flexibility modeling errors on the accuracy of the task. In this context, the sensitivity of this control law is evaluated through a sensitivity analysis
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Štěpánek, Vojtěch. "Vývoj a návrh nízkonákladového manipulátoru pro interakci s okolím." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382122.

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This thesis is focused in design low cost robotic manipulator known as SCARA. Chapters are sorted chronological by degrees of manipulator development. Thesis will present metods of inverse kinematics, that determines intaraction between joint rotation and cartesian coordina-tes of gripper. Next it introduces flowcharts for controlling machine and explains the control software determinater especially for microcontroller called Arduino MEGA.
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Kmelnitsky, Vitaly M. "Automated On-line Diagnosis and Control Configuration in Robotic Systems Using Model Based Analytical Redundancy." Digital WPI, 2002. https://digitalcommons.wpi.edu/etd-theses/167.

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Because of the increasingly demanding tasks that robotic systems are asked to perform, there is a need to make them more reliable, intelligent, versatile and self-sufficient. Furthermore, throughout the robotic system?s operation, changes in its internal and external environments arise, which can distort trajectory tracking, slow down its performance, decrease its capabilities, and even bring it to a total halt. Changes in robotic systems are inevitable. They have diverse characteristics, magnitudes and origins, from the all-familiar viscous friction to Coulomb/Sticktion friction, and from structural vibrations to air/underwater environmental change. This thesis presents an on-line environmental Change, Detection, Isolation and Accommodation (CDIA) scheme that provides a robotic system the capabilities to achieve demanding requirements and manage the ever-emerging changes. The CDIA scheme is structured around a priori known dynamic models of the robotic system and the changes (faults). In this approach, the system monitors its internal and external environments, detects any changes, identifies and learns them, and makes necessary corrections into its behavior in order to minimize or counteract their effects. A comprehensive study is presented that deals with every stage, aspect, and variation of the CDIA process. One of the novelties of the proposed approach is that the profile of the change may be either time or state-dependent. The contribution of the CDIA scheme is twofold as it provides robustness with respect to unmodeled dynamics and with respect to torque-dependent, state-dependent, structural and external environment changes. The effectiveness of the proposed approach is verified by the development of the CDIA scheme for a SCARA robot. Results of this extensive numerical study are included to verify the applicability of the proposed scheme.
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Books on the topic "SCARA robot"

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ill, Laughead Mike, ed. The scary night: A Robot and Rico story. Minneapolis, Minn: Stone Arch Books, 2010.

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ill, Laughead Mike, ed. La noche de terror: Un cuento sobre Robot y Rico = The scary night : a Robot and Rico story. Mankato, Minn: Stone Arch Books, 2012.

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Robot Droids Scyra. Design Eye Publishing, 2003.

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Robot Droids: Scyra-3 (Robot Droids). RotoVision, 2002.

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Science Fair Scare! (Nova the Robot). Grosset & Dunlap, 2005.

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Suen, Anastasia, and Michael Frederick Laughead. Scary Night: A Robot and Rico Story. Raintree Publishers, 2020.

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The Scary Night A Robot And Rico Story. Stone Arch Books, 2009.

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Nintendo 64: A-Z Der Cheats, Ausgabe 1. Enschede, Niederlande: BriStein, B.V., 1999.

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Book chapters on the topic "SCARA robot"

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Noe, D., and M. Skubic. "Design of SCARA robot." In Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich, 74–78. Vienna: Springer Vienna, 1994. http://dx.doi.org/10.1007/978-3-7091-9346-4_14.

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Gauthier, J. F., J. Angeles, and S. Nokleby. "Optimization of a Test Trajectory for SCARA Systems." In Advances in Robot Kinematics: Analysis and Design, 225–34. Dordrecht: Springer Netherlands, 2008. http://dx.doi.org/10.1007/978-1-4020-8600-7_24.

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Iwamura, Makoto, and Werner Schiehlen. "Control and Experiments with Energy-Saving SCARA Robots." In ROMANSY 21 - Robot Design, Dynamics and Control, 153–61. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33714-2_17.

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Wang, Nianfeng, Jinghui Liu, Shuai Wei, Zhijie Xu, and Xianmin Zhang. "The Control System Design of A SCARA Robot." In Intelligent Robotics and Applications, 136–45. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-13963-0_14.

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Al Mashhadany, Yousif I. "SCARA Robot: Modeled, Simulated, and Virtual-Reality Verified." In Communications in Computer and Information Science, 94–102. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-35197-6_10.

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Tong, Yilong, Yanjiang Huang, Lixin Yang, Changsheng Li, and Xianmin Zhang. "Experiment Study of Positioning Accuracy for a SCARA Robot." In Lecture Notes in Electrical Engineering, 317–24. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2875-5_27.

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Allagui, Mohamed, Najah Yousfi, Nabil Derbel, and Pierre Melchior. "Tuning of Fractional Order Controller and Prefilter in MIMO Robust Motion Control: SCARA Robot." In New Trends in Robot Control, 3–18. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-1819-5_1.

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Lan, Gongjin, Kai He, and Duru Xu. "Research on Motion Controller for SCARA Robot Based on STM32." In Recent Advances in Computer Science and Information Engineering, 417–23. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-25778-0_57.

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Faglia, R., and C. Remino. "Techniques to Improve the Performances of an Industrial SCARA Robot." In Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich, 108–12. Vienna: Springer Vienna, 1994. http://dx.doi.org/10.1007/978-3-7091-9346-4_21.

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Talli, Amit, and Doddabasappa Marebal. "End-Effector Position Analysis of SCARA Robot by Using MATLAB." In Lecture Notes in Electrical Engineering, 25–33. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-0336-5_3.

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Conference papers on the topic "SCARA robot"

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Stepanenko, Oleksandr, and Ilian A. Bonev. "Novel 4-DOF SCARA Parallel Robot With Cylindrical Workspace." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-86113.

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In this paper, we present a novel 4-DOF SCARA parallel robot. The 2-DOF portion of the novel robot has been proposed before and consists of an end-effector connected to the base through two legs of type RRR and one passive constraining leg of type RP, where all the base-mounted revolute joints are coaxial. Contrary to SCARA robots based on the four-bar mechanism (RRRRR), the novel robot has a fully cylindrical workspace with no voids or parallel singularities in it. The novel robot has essentially the same workspace as that of a similarly sized ceiling-mounted SCARA serial robot (RR) with links of equal length. However, the proposed robot has the advantage of having all motors mounted on the base. We present the 2-DOF portion of the robot, its kinematic analysis, and its optimal design, and finally propose a mechanism design for the 4-DOF SCARA parallel robot.
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Suri, Sonick, Anjali Jain, Neelam Verma, and Nopporn Prasertpoj. "SCARA Industrial Automation Robot." In 2018 International Conference on Power Energy, Environment and Intelligent Control (PEEIC). IEEE, 2018. http://dx.doi.org/10.1109/peeic.2018.8665440.

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Subhashini, P. V. S., N. V. S. Raju, and Ganapathiraju Venkata Rao. "Energy Expended in Robotic Deburring of Circular Components Using a SCARA Robot." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-50730.

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It is well known that in mechanical engineering production systems, an estimated 15–30% of the manufacturing cost is towards deburring operations. While small components may be deburred using one of the many technologies available, larger components like castings have to be deburred manually or in recent times with assistance from robots. In fact, most of the present mass production systems aim towards automation and robotics for carrying out these operations. At present, substantial research effort is being spent towards robotic deburring. The major issue with robotic deburring is that the tool path gets affected in view of the interaction of cutting forces between the work piece and robot. The objective of present research is to carry out multidirectional investigations on robotic deburring using a SCARA robot, the application being confined mostly to the deburring of circular components. It is well known that SCARA (selective Compliant articulated Robot Arm) is a robotic manipulator with four degrees of freedom (3 rotary and 1 prismatic) and is preferred where speed, high precision and accuracy is required. In this work investigations on SCARA robot are carried out for different sized component which is positioned at different distances with respect to the base which leads to present a solution to component placement with in the workspace (solvability analysis) and also presents the placement position of a deburring component with minimum joint torques. A brief discussion on simulation of SCARA robot with force feedback control is presented, since this plays a major role in the maintenance of the path in the presence of varying cutting forces, and also presented kinematic and dynamic analysis of a SCARA robot for deburring of rectangular paths. The overall kinematic and dynamic analyses of the SCARA robot with different positional configurations of the workpieces in the workspace enables the energy to be computed for assessing the most desirable state for deburring which consumes the least energy. This data thus obtained enables a comparison and pseudo-optimize the best configuration for the entire deburring operation. Although the methodology is at present confined mostly to circular paths, similar analyses can be carried out for rectangular path deburring (similar to those on engine cylinder heads) and oblong and elliptical profiles which are commonly found in many engineering components.
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Tao, Wei, and Wang Xingsong. "Fault Diagnosis of a SCARA Robot." In 2008 15th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE, 2008. http://dx.doi.org/10.1109/mmvip.2008.4749558.

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Al-Khedher, Mohammad A., and Mahdi S. Alshamasin. "SCARA robot control using neural networks." In 2012 4th International Conference on Intelligent & Advanced Systems (ICIAS). IEEE, 2012. http://dx.doi.org/10.1109/icias.2012.6306173.

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Turiel, J. Perez, R. Grossi Calleja, and V. Gutierrez Diez. "Dynamic Modelling Of A SCARA Robot." In IECON '87: Industrial Applications of Control and Simulation, edited by Tom T. Hartley. SPIE, 1987. http://dx.doi.org/10.1117/12.942944.

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Aroca, Rafael Vidal, Dalton Matsuo Tavares, and Glauco Caurin. "Scara robot controller using real time linux." In 2007 IEEE/ASME international conference on advanced intelligent mechatronics. IEEE, 2007. http://dx.doi.org/10.1109/aim.2007.4412544.

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Apostol, Marcin, Grzegorz Kaczmarczyk, and Kamil Tkaczyk. "SCARA robot control based on Raspberry Pi." In 2019 20th International Carpathian Control Conference (ICCC). IEEE, 2019. http://dx.doi.org/10.1109/carpathiancc.2019.8765972.

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Balaji A, Nippun Kumaar AA, and Sudarshan TSB. "3 axis SCARA robot with universal gripper." In 2015 International Conference on Trends in Automation, Communications and Computing Technology (I-TACT-15). IEEE, 2015. http://dx.doi.org/10.1109/itact.2015.7492687.

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Joochim, Chanin, Supod Kaewkorn, and Alisa Kunapinun. "The 9 Points Calibration Using SCARA Robot." In 2019 Research, Invention, and Innovation Congress (RI2C). IEEE, 2019. http://dx.doi.org/10.1109/ri2c48728.2019.8999901.

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