Dynamic Analysis of Scara Robots for Optimal Motions with Low-Cost Controller

Abstract This paper presents the first results of a theoretical-experimental research on the optimization of the dynamic behaviour of robots. The study basically relates to all those situations (i.e. some assembly operations) in which few degrees of freedom robots are used in order to perform operations where the exact observance of a pre-fixed trajectory is not required. In this case a simple control strategy is acceptable and a low-cost controller is welcome. The first part of the paper describes the basic idea on the optimization procedure, the second part presents the mechanical model of a SCARA robot developed with the aim of applying the optimization study to it. The model, that includes joints elasticity, damping and clearance (parameters usually not considered) has been tested comparing the simulation results, obtained by the model, with the actual behaviour of the robot, determined by means of experimental tests. The paper also describes an experimental methodology for the determination of the values of the model parameters.