遥感与地理信息系统学报

抽象的

Optimization practical SCARA robot trajectory based on a linear quadratic controller

Yousif Ismail Mohammed Al-Mashhadany

SCARA (Specific consistent enunciated robot arm) comprises of three planar revolute joints as shoulder, elbow and wrist and a kaleidoscopic joint which works in vertical plane for legitimate situating of the work piece. It offers particularly a decent decision for get together errands. A wide range of studies are seen on displaying and control of SCARA type robot to get high precise direction in industrial and biomedical application. Direct quadratic controller with Gaussian (LQG-controller) models of the movement and detecting vulnerability, as it gives ideal control to managing a robot along an arranged way. For straight elements and perception models with Gaussian commotion and a quadratic cost work, the ideal methodology for executing the way is to utilize a LQR input controller in corresponding with a Kalman channel for state estimation, which is called direct quadratic Gaussian (LQG) control. A Kalman channel gives the ideal gauge of the state given past state evaluations, estimations and control inputs, and a LQR controller gives the ideal control input given the gauge of the state. This paper exhibits another way to deal with SCARA robot movement arranging that considers the sensors and the controller that will be utilized during execution of the robot’s way. LQG depends on the straight quadratic controller with Gaussian models of vulnerability and expressly portrays ahead of time from the earlier likelihood dispersions of the condition of the robot along its way.