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Journal articles on the topic 'SCARA robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 6 February 2022

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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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3

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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5

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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6

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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7

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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8

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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9

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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10

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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11

Lu, Guangqiang, Sadao Kawamura, and Mitunori Uemura. "Proposal of an Energy Saving Control Method for SCARA Robots." Journal of Robotics and Mechatronics 24, no. 1 (February 20, 2012): 115–22. http://dx.doi.org/10.20965/jrm.2012.p0115.

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The energy-saving method for SCARA robots proposed in this paper utilizes elastic elements effectively in order to save energy for periodic motion. In other words, our method is based on resonance. Mechanically linearized robot dynamics with nondiagonal elastic-matrix elements are considered to save SCARA robot energy significantly. An adaptive elastic method and an adaptive viscosity compensation method are proposed. It is mathematically proven that robot motion controlled by the proposed method converges at the desired periodic motion and elasticity and viscosity parameters converge at ideal values. Several simulation results demonstrate the feasibility and robustness of the proposed method.

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12

Fang, Jian. "Dynamic Model of SCARA Robot." Applied Mechanics and Materials 442 (October 2013): 476–79. http://dx.doi.org/10.4028/www.scientific.net/amm.442.476.

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Design a robot system, it is the key technique to make kinematic analysis and build dynamic model based on the robot. This paper mainly provided introduction of the products dynamic model of four degree of freedoms SCARA robot which based on Kinematics analysis .The paper has certain reference value for actual application study the system with the same type.

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Yuan, Jing. "Local SVD inverse of robot Jacobians." Robotica 19, no. 1 (January 2001): 79–86. http://dx.doi.org/10.1017/s0263574700002769.

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This study presents a fast inverse kinematics algorithm for a class of robots, including PUMA and SCARA. It decomposes a robot Jacobian into a product of sub-matrices to locate singularities. Singular value decomposition (SVD) is applied to each singular sub-matrix to find a local least-squares inverse. Perfect inverses are derived for all non-singular sub-matrices. The proposed algorithm is extremely fast. A total inverse requires 54 flops for PUMA and 43 for SCARA. Simulation and experiment are conducted to test the accuracy and real-time speed of the algorithm.

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Mao, Hank, Lawrence Peng, Zigui Liu, Yongkang Zhen, and Murad Kurwa. "Robots collaboration for wearable products lifetime testing." Industrial Robot: An International Journal 43, no. 5 (August 15, 2016): 573–76. http://dx.doi.org/10.1108/ir-01-2016-0043.

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Purpose The purpose of this paper is to find a practical and effective way to test wearing product lifetime with two SCARA robots. Design/methodology/approach The paper designs a mathematical model to simulate human motion, calculate the coordinate trajectory, then implement with two SCARA robots. Findings The two-robot testing platform for wrist band is an effective and precise simulation method and is feasible to deploy in mass production. Originality/value The paper introduces a way for apply robots in wearing product lifetime testing which is novel, practical and effective.

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Zhao, Liang, Meng Su, and Yun Chen Miao. "High Accuracy Analysis of SCARA Industrial Robot Based on Screw Theory." Applied Mechanics and Materials 130-134 (October 2011): 249–55. http://dx.doi.org/10.4028/www.scientific.net/amm.130-134.249.

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Error sources which influence the end-executor’s accuracy are summarized. Based on an analysis of influence caused by the structural error and transmission error, we build a pose error model of industrial robots with screw theory. If regarding the inertia force of the robot system as the external force, the robot system will become a static system. The rigidity can be analyzed using the screw theory, then we establish the dynamic error modle which is caused by the inertia force and gravity. After the error parameters which influence the static error of Selective Compliance Assembly Robot Arm (SCARA) robot are expressed by two-dimensional discrete variable, error space of the end-executor’s track of robot are made. Position error which influenced by the error sources are analysed by comparision of difference. Total accuracy can be improved through controlling the error direction of the static error to counteract the dynamic error's influence. The error model provides an effective theoretical support for the design of industrial robots with different accuracy requirements.

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Amiri-M, Amir-A., M. R. Gharib, M. Moavenian, and K. Torabiz. "Modelling and control of a SCARA robot using quantitative feedback theory." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 223, no. 7 (August 3, 2009): 919–28. http://dx.doi.org/10.1243/09596518jsce733.

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In this paper, a practical method to design a robust controller for a SCARA robot using quantitative feedback theory (QFT) is proposed. The models used to describe robots contain uncertainties that are the result of insufficient knowledge on the dynamics of the robot, external disturbances, pay load changes, and friction, etc. Thus, the application of robust control methods to create the precise control of robots is of considerable interest. This paper considers a robot arm manipulator, a system whose models contain non-linear coupled transfer functions. In the first step of applying the QFT technique the non-linear plant is converted into a family of linear uncertain plants. This is achieved using a fixed-point theorem and then suitable disturbance rejection bounds are found. A robust controller is designed for the tracking problem. Non-linear simulations on the tracking problem for a three-dimension elliptical path are performed and the results highlight the success of the designed controllers and pre-filters. The presented results indicate that applying the proposed technique successfully overcomes the obstacles to robust control of non-linear SCARA robots.

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ElMaraghy, H. A., and B. Johns. "An Investigation Into the Compliance of SCARA Robots. Part II: Experimental and Numerical Validation." Journal of Dynamic Systems, Measurement, and Control 110, no. 1 (March 1, 1988): 23–30. http://dx.doi.org/10.1115/1.3152643.

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A model of inherent elastic compliance was developed for general position-controlled SCARA, with conventional joint feedback control, for both rotational and prismatic part insertion (Part I). The developed model was applied to the SKILAM and ADEPT I robots for validation. Experimental procedures and numerical solution methods are described. It was found that the ADEPT I robot employs a coupled control strategy between joints one and two which produces a constant, decoupled end effector compliance. The applicable compliance matrix, in this case, is presented and the experimental results are discussed. The model may be used to develop compliance maps that define the amount of end effector compliance, as a function of the joints compliance, as well as its variation for different robot configurations. This is illustrated using data for the SKILAM SCARA robot. Results are plotted and discussed. The most appropriate robot postures for assembly were found for both rotational and prismatic parts. The conditions necessary to achieve compliance or semicompliance centers with the SKILAM robot were examined. The results and methods demonstrated in these examples may be used to select appropriate robots for given applications. They can also guide robot designers in selecting joint servo-control gains to obtain the desired joints compliance ratio and improve assembly performance.

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Tiboni, Monica, Giovanni Legnani, and Nicola Pellegrini. "Study of Neural-Kinematics Architectures for Model-Less Calibration of Industrial Robots." Journal of Robotics and Mechatronics 33, no. 1 (February 20, 2021): 158–71. http://dx.doi.org/10.20965/jrm.2021.p0158.

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Modeless industrial robot calibration plays an important role in the increasing employment of robots in industry. This approach allows to develop a procedure able to compensate the pose errors without complex parametric model. The paper presents a study aimed at comparing neural-kinematic (N-K) architectures for a modeless non-parametric robotic calibration. A multilayer perceptron feed-forward neural network, trained in a supervised manner with the back-propagation learning technique, is coupled in different modes with the ideal kinematic model of the robot. A comparative performance analysis of different neural-kinematic architectures was executed on a two degrees of freedom SCARA manipulator, for direct and inverse kinematics. Afterward the optimal schemes have been identified and further tested on a three degrees of freedom full SCARA robot and on a Stewart platform. The analysis on simulated data shows that the accuracy of the robot pose can be improved by an order of magnitude after compensation.

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Makino, Hiroshi, Akitaka Kato, and Yasunori Yamazaki. "Research and Commercialization of SCARA Robot." Journal of the Robotics Society of Japan 23, no. 2 (2005): 148–54. http://dx.doi.org/10.7210/jrsj.23.148.

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20

Baláž, Vladimír. "Palette - Assembly Cell with Robot SCARA." Applied Mechanics and Materials 613 (August 2014): 292–98. http://dx.doi.org/10.4028/www.scientific.net/amm.613.292.

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The article describes a basic structure of handling operations for palletization. Also contains a ways to organize objects on pallets and determination of programmable palletizing points. It explains the principle of modular structures with designed workstation.

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Makino, Hiroshi. "Development of the Spherical SCARA Robot." Journal of Robotics and Mechatronics 1, no. 3 (October 20, 1989): 251–52. http://dx.doi.org/10.20965/jrm.1989.p0251.

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Padhy, Sisir K. "On the dynamics of SCARA robot." Robotics and Autonomous Systems 10, no. 1 (January 1992): 71–78. http://dx.doi.org/10.1016/0921-8890(92)90016-r.

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Miyagawa, Toyomi, Kohei Hori, Yukihisa Hasegawa, Koichi Suzumori, and Hajime Sudo. "Micro SCARA Robot for Miniature Parts Assembling." Journal of Robotics and Mechatronics 9, no. 5 (October 20, 1997): 341–47. http://dx.doi.org/10.20965/jrm.1997.p0341.

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In this report, application of newly developed ultra-small servo actuators to a micro SCARA robot is presented. An ultra-small servo actuator consists of a miniature brushless DC motor, a reduction gear, and an optical encoder for monitoring the rotation of the motor. Two prototypes of different sizes were developed: one is 3mm in diameter and 10mm in length, and the other is 5mm in diameter and 18mm in length. Including the vertical positioning of the hand the robot has three degrees of freedom. First, the structure of the ultra-small servo actuator is shown and then the output characteristics of the 3mmdiameter and the 5mm diameter servo actuators are described, respectively. Next, the structure and control system of the micro SCARA robot, which has a 24.5mmlong arm, are described. Finally, flexible micro actuators, combined in parallel and acting a miniature handling system, are reported. They enable the gentle handling of small, fragile objects. The prototype of this micro SCARA robot enables the assembly of miniature objects in a small space. In the future, we expect this robot to find application as an inspection robot in narrow spaces, such as in small-diameter pipelines.

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Yau, Chin Horng, Wen Ren Jong, and H. H. Wang. "Design and Analysis of SCARA Substrate Transfer Robot for Semiconductor and FPD Processing Cluster Tools." Materials Science Forum 505-507 (January 2006): 331–36. http://dx.doi.org/10.4028/www.scientific.net/msf.505-507.331.

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The design criteria and dynamic analysis of SCARA substrate transfer robot for cluster tools have been investigated in this paper. The design criteria for SCARA robot to meet the application of semiconductor and flat panel display processing have been verified. The dynamic equations of decomposed modules of SCARA substrate transfer robot, such as arm module, friction module, servomotor module, harmonic drive module and belt module are formulated by Lagrange’s method respectively. Then, the dynamic equations are all built and simulated with MATLAB software. In addition, the elasticity characteristics of belt and harmonic drive are further discussed in this paper. In the aspect of control, the PID controller and force control method are both used to suppress the vibration and improve the transient response.

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Borangiu, Theodor, Florin Daniel Anton, and Silvia Anton. "Robot Motion Synchronization in Cooperative Tasks." Solid State Phenomena 166-167 (September 2010): 63–68. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.63.

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This paper discusses the problem of synchronizing multiple robots in cooperative tasks. The problem is divided in two parts: first the problem of synchronizing robots which are handling large objects that cannot be manipulated only by one robot (hard connected robots) is discussed; the problem is approached from the point of view of path planning, kinematics, and movement synchronization. An alternative of control using the force control and dynamics which solved by using a decentralized control structure is also presented. The second problem concerns robot synchronization in a shared workspace; here is presented a method of control for collision avoidance and time optimization for the robot tasks (assembly / disassembly). In the conclusion section the results from the experiments conducted on two SCARA type robots (Adept Cobra s600) are presented.

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Ristea, Alin, and Oprean Aurel. "Temperature Effects on Performance of Industrial Robots Made of Composite Materials." Advanced Materials Research 403-408 (November 2011): 603–6. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.603.

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Industrial Robots design is always a challenge in terms of the materials being chosen for manufacturing the mechanical elements of the robots. The present paper is a theoretical study on the effects of temperature to the positioning precision of the robots with mechanical elements having composite materials in their structure. A case study was made on a SCARA industrial robot structure.

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Khang, Nguyen Van, and Do Thanh Tung. "A contribution to the dynamic simulation of robot manipulator with the software RobotDyn." Vietnam Journal of Mechanics 26, no. 4 (December 31, 2004): 215–25. http://dx.doi.org/10.15625/0866-7136/26/4/5705.

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Robots manipulators are multibody systems with tree structures. In this paper the theoretical background of the computer program RobotDyn is presented. The program is developed using Lagrange's equations and Denavit-Hartenberg matrix. The dynamic simulation of the Robot SCARA with four degrees of freedom is considered as an example of application of the program RobotDyn.

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Xu, Xiao, Peisen Guo, Jingmei Zhai, and Xianwen Zeng. "Robotic kinematics teaching system with virtual reality, remote control and an on–site laboratory." International Journal of Mechanical Engineering Education 48, no. 3 (October 31, 2018): 197–220. http://dx.doi.org/10.1177/0306419018807376.

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Given the ever-growing need for robotics learning, an experimental teaching model was developed in combination with virtual reality, remote control and an on-site laboratory to support robotic kinematics teaching. Based on the Browser/Server mode, a kinematics simulation platform of a 6-DOF articulated robot and a 4-DOF SCARA robot was established. Furthermore, a Client/Server mode SCARA robot’s remote-control system was developed along with a simulation with the same functionality and interface. Experiments with virtual reality simulation can eliminate the safety concerns associated with real-world robot operations. Test resources can be web-shared for wider audiences. Remote-controlled experiments could operate the robot off-site and achieve the same results as on-site operations. Virtual reality and remote-controlled experiments could also alleviate the shortages of lab time, space, equipment, staff and teaching time. Students could choose one of the three modes to examine the effectiveness of their study, or they could first use simulations and later operate robots on-site or remotely and obtain real-world experimental results. The various testing combinations available to learners would improve the flexibility, effectiveness and safety of experiments and would meet various learners’ needs.

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Ma, Guo Qing, Zheng Lin Yu, Guo Hua Cao, Yan Bin Zheng, and Li Liu. "The Kinematic Analysis and Trajectory Planning Study of High-Speed SCARA Robot Handling Operation." Applied Mechanics and Materials 687-691 (November 2014): 294–99. http://dx.doi.org/10.4028/www.scientific.net/amm.687-691.294.

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Successfully developed of high-speed SCARA robot provides the possibility for fast handling. After analyzed the mechanical structure of SCARA robot, the kinematics equations were built to analyze forward and inverse kinematics problems based on modified D-H coordinate system theory. The trajectory planning was achieved by using the cubic polynomial interpolation method in joint space over the path points combined with motion parameters, the kinematics and trajectory planning were simulated by using matlab simulation platform. Simulation results show that robot parameter design is reasonable and the trajectory planning by interpolation calculation in joint space is feasible.

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Li, Bin. "Optimization of Multi-Intelligent Robot Control System Based on Wireless Communication Network." Wireless Communications and Mobile Computing 2021 (July 24, 2021): 1–10. http://dx.doi.org/10.1155/2021/6457317.

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The robot is a very complex multi-input multioutput nonlinear system. It has time-varying, strong coupling, and nonlinear dynamic characteristics, and its control is very complicated. Due to the inaccuracy of measurement and modeling, coupled with changes in the load and the influence of external disturbances, it is actually impossible to obtain an accurate and complete dynamic model of the robot. We must face the existence of various uncertain factors of the robot. This paper analyzes the real-time communication protocol in the wireless network control system and confirms that the main way to improve the real-time performance of the wireless network control system is to implement the real-time media access control (MAC) protocol. This paper studies robots from the perspective of control and mainly discusses how to use artificial immune algorithms to design robust nonlinear proportion integral derivative (PID) controllers. A nonlinear PID controller is used to replace the classic PID controller. The nonlinear link can be adjusted with the change of the error, so as to achieve the purpose of improving the adaptability and robustness to obtain satisfactory tracking performance. We carried out selective compliance assembly robot arm (SCARA) robot remote control experiment, dual robot following experiment, SCARA and ABB robot collisionless motion planning experiment, and multirobot intelligent collaborative assembly experiment. The experimental results show that the C/S mode remote control system has good practicability and can complete remote tasks; the P2P communication system has good information transmission effects and can realize real-time information sharing between robots; the collision-free motion planning algorithm enables the dual robots to complete obstacle avoidance tasks well in complex operating environments; the functional modules of the system can closely cooperate to complete the tasks in coordination, and the multirobot system has a certain degree of intelligence.

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Bussola, Roberto, Giovanni Legnani, Massimo Callegari, Giacomo Palmieri, and Matteo-Claudio Palpacelli. "Simulation Assessment of the Performance of a Redundant SCARA." Robotics 8, no. 2 (June 12, 2019): 45. http://dx.doi.org/10.3390/robotics8020045.

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The present paper analyses the potential dynamic performance of a novel redundant SCARA robot, currently at the stage of a functional design proposed by a renowned robot manufacturer. The static and dynamic manipulability of the new concept is compared with the conventional model of the same manufacturer by means of computer simulation in typical pick and place tasks arising from industry. The introduction of a further revolute joint in the SCARA robot kinematics leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. In this paper, the potential of a redundant SCARA architecture in cutting cycle-times is investigated for the first time in performing several tasks. It is shown that, in order to exploit the possible enhancements of the redundant structure, the whole manipulator, mechanics and control must be redesigned according to specific tasks aiming at the optimization of their cycle-time.

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32

Boschetti, Giovanni. "A Novel Kinematic Directional Index for Industrial Serial Manipulators." Applied Sciences 10, no. 17 (August 27, 2020): 5953. http://dx.doi.org/10.3390/app10175953.

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In the last forty years, performance evaluations have been conducted to evaluate the behavior of industrial manipulators throughout the workspace. The information gathered from these evaluations describes the performances of robots from different points of view. In this paper, a novel method is proposed for evaluating the maximum speed that a serial robot can reach with respect to both the position of the robot and its direction of motion. This approach, called Kinematic Directional Index (KDI), was applied to a Selective Compliance Assembly Robot Arm (SCARA) robot and an articulated robot with six degrees of freedom to outline their performances. The results of the experimental tests performed on these manipulators prove the effectiveness of the proposed index.

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Ting, K. C., G. A. Giacomelli, and W. J. Roberts. "SCARA ROBOT WORK CELL FOR SEEDLING TRANSPLANTING." Acta Horticulturae, no. 230 (September 1988): 221–28. http://dx.doi.org/10.17660/actahortic.1988.230.27.

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34

Hamerlain, M., M. Belhocine, and K. Bouyoucef. "Sliding Mode Control for a Robot Scara." IFAC Proceedings Volumes 30, no. 12 (July 1997): 121–25. http://dx.doi.org/10.1016/s1474-6670(17)42775-3.

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35

IRIBE, Masatugu, and Masayuki NISHIO. "Robot technology education using SCARA type manipulator." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 2P2—K09. http://dx.doi.org/10.1299/jsmermd.2020.2p2-k09.

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Indri, M., G. Calafiore, G. Legnani, F. Jatta, and A. Visioli. "OPTIMIZED DYNAMIC CALIBRATION OF A SCARA ROBOT." IFAC Proceedings Volumes 35, no. 1 (2002): 431–36. http://dx.doi.org/10.3182/20020721-6-es-1901.00884.

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Milutinović, Dragan, and Veljko Potkonjak. "A new concept of the SCARA robot." Robotics and Computer-Integrated Manufacturing 7, no. 3-4 (January 1990): 337–43. http://dx.doi.org/10.1016/0736-5845(90)90020-9.

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38

FURUYA, Nobuyuki. "A study on the improvement of the SCARA robot motion - Measurement and simulation of the SCARA robot motion." Journal of the Japan Society for Precision Engineering 53, no. 4 (1987): 613–18. http://dx.doi.org/10.2493/jjspe.53.613.

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39

Xu, Fengyu, Zhong Yang, JinLong Hu, Guoping Jiang, and GuoHong Dai. "Fault diagnosis of a selective compliance assembly robot arm manipulator based on the end joint motion analysis: Threshold algorithm and experiments." Transactions of the Institute of Measurement and Control 40, no. 5 (May 3, 2017): 1691–700. http://dx.doi.org/10.1177/0142331217690222.

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This paper presented a method to carry out fault diagnosis via analyzing the motion signals of a SCARA. To analyze the motion signals of the end joint of a selective compliance assembly robot arm (SCARA) and carry out fault diagnosis. A model parameter-based threshold algorithm is proposed in this study to improve the efficiency of the fault diagnosis on the end joint of a SCARA manipulator. The operation state of the robot is determined by comparing the speed curve of the end joint of the robot with the threshold using the proposed algorithm. Firstly, the threshold range of the system output is estimated using the speed observer constructed via parameter separation. Secondly, the acceleration signals of the end joint of the robot are collected at various operational angular speeds by a single acceleration sensor installed at the end joint of the manipulator. The operation state of the robot is evaluated by analyzing the trend and vibration characteristics of its acceleration. Finally, experiments are conducted at three different speeds: 2.4rad/s, 3.12rad/s and 3.6rad/s. Some robot malfunctions are detected by comparing the actual speed with the threshold. Thus, the proposed method can be used to monitor the variation signal in each robot joint through a single accelerometer mounted on the top of the manipulator.

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Shi, Jiang Tian, De Xin Sun, and Hong Zhuang Zhang. "Developing of Three Degree of Freedoms SCARA Robot." Advanced Materials Research 267 (June 2011): 217–20. http://dx.doi.org/10.4028/www.scientific.net/amr.267.217.

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Mechanical structure of three degree of freedoms SCARA robot adopts horizontal joints, and opening PMAC multitude axis motion controller based PC is looked as kernel of control system, adopts the open hardware and software structure, we can conveniently enlarge its functions according to needs, so it has very good expansibility. Its three-dimensional solid model and virtual assemble is carried out using CATIA application, so that we can estimate the status of interference. Through validation, we can prove the feasibility of the robot.

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Wu, Xin, Hong Yin He, Gong Jin Lan, and Jin Tian Tang. "Study on Industrial Automation with SCARA Robot Vision System Design." Advanced Materials Research 675 (March 2013): 72–76. http://dx.doi.org/10.4028/www.scientific.net/amr.675.72.

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To realize scara robot in industrial automation work environment identifying target objects independently, this paper puts forward a kind of machine vision solution based on opencv . First the k neighbor average filtering method and otsu is used to the initial image filtering and segmentation, and given a method based on pixel area, using the target object itself geometric characteristics and center of mass calibration to identify, locate purpose. The experimental results show that the system can achieve good object identification orientation effect in more complex industrial automation environment, so as to provide the necessary information for scara robot to grab target objects.This kind of robot vision system play an important role in industrial automation.

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42

Garg, Devendra P. "Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators." Robotica 9, no. 3 (July 1991): 319–26. http://dx.doi.org/10.1017/s0263574700006482.

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SUMMARYThis paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive computed torque control strategy is illustrated. The influence of variations in payload and robot parameters on trajectory tracking is also shown.

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MING, Aiguo, Tongzhuang ZHANG, Tadashi YAMAMOTO, Nobuyuki FURUYA, Makoto MURATA, and Hiroshi MAKINO. "Development of the Spherical SCARA Robot (2nd Report)." Journal of the Japan Society for Precision Engineering 55, no. 9 (1989): 1615–20. http://dx.doi.org/10.2493/jjspe.55.1615.

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Zhang, C., G. Zhao, Y. Xiao, and X. Yang. "Decoupling Robust Control of Three-Link Direct Drive Robot Arm." Advanced Materials Research 443-444 (January 2012): 258–66. http://dx.doi.org/10.4028/www.scientific.net/amr.443-444.258.

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This paper introduces the mechanical structure of a three-link direct drive SCARA for wafer handling application. The dynamic modeling of the presented SCARA is derived and the coupling effect of the system is studied. A decoupling method based on computed torque control is employed in the implementation. Robust control is applied to design the SISO controllers after the system is decoupled. The experimental test results demonstrate satisfying dynamic, settling and static performances by utilizing the decoupling robust control.

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Makino, Hiroshi, Akitaka Kato, and Yasunori Yamazaki. "Research and Commercialization of SCARA Robot –The Case of Industry-University Joint Research and Development–." International Journal of Automation Technology 1, no. 1 (September 5, 2007): 61–67. http://dx.doi.org/10.20965/ijat.2007.p0061.

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This round-table talk was planned as part of the feature “Commercialization of Robot Research.” Taking the SCARA robot as a successful example of commercialization, we'd like to hear from its developers, Drs. Makino, Kato, and Yamazaki, about what was involved and their ideas on future commercialization of robot research.

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Rui Tang, Li Hou, and Qi Zhang. "Adaptive Iterative Learning Control for SCARA Robot Manipulators." International Journal of Advancements in Computing Technology 4, no. 21 (November 30, 2012): 50–58. http://dx.doi.org/10.4156/ijact.vol4.issue21.7.

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Bhatia, Praveen, Janarthanan Thirunarayanan, and Nalin Dave. "An expert system-based design of SCARA robot." Expert Systems with Applications 15, no. 1 (July 1998): 99–109. http://dx.doi.org/10.1016/s0957-4174(98)00015-3.

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48

Lee, M. C., J. M. Lee, K. Son, D. S. Ahn, S. H. Han, and M. H. Lee. "Implementation of Sliding Mode Control for SCARA Robot." IFAC Proceedings Volumes 28, no. 5 (May 1995): 85–89. http://dx.doi.org/10.1016/s1474-6670(17)47215-6.

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49

Milutinovic, Dragan, and R. Milacic. "Micro Scara Robot as Universal Adaptive Compliant Wrist." CIRP Annals 45, no. 1 (1996): 31–34. http://dx.doi.org/10.1016/s0007-8506(07)63011-x.

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50

Kang, Z. B., T. Y. Chai, K. Oshima, J. M. Yang, and S. Fujii. "ROBUST VIBRATION CONTROL FOR SCARA-TYPE ROBOT MANIPULATORS." Control Engineering Practice 5, no. 7 (July 1997): 907–17. http://dx.doi.org/10.1016/s0967-0661(97)00078-6.

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