Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm

Ahmad Albalasie; Irfan Hussain; Mamon Horoub; Sikandar Khan; Sajid Ali; Dongming Gan

doi:10.1109/CYBER46603.2019.9066682

Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm

Ahmad Albalasie, Irfan Hussain, Mamon Horoub, Sikandar Khan, Sajid Ali, Dongming Gan

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

This paper presents the design, the prototype and the control of SCARA (Selective Compliance Assembly Robot Arm) to perform pick and place tasks for industrial applications. The robot has four degrees of freedom (DoFs) with a capability to carry payloads up to 1 kg with high accuracy, precision, and repeatability. The robot is designed using the CAD tools and its prototype development is carried out by manufacturing its mechanical parts (links, base) and selecting the proper off the shelf electrical (motors, controllers) and transmission components (belts, pulleys). We also present the mathematical formulation consisting of direct kinematics, inverse kinematics, and the dynamical equations of the robot. We also report a closed loop position control based on the Computed Torque Control (CTC) method. The Numerical simulations are performed in order to evaluate the performance of the robot by using the applied control technique. The future work includes the experiments on the hardware using the implemented control technique.

Original language	English
Title of host publication	9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	70-75
Number of pages	6
ISBN (Electronic)	9781728107691
DOIs	https://doi.org/10.1109/CYBER46603.2019.9066682
State	Published - Jul 2019

Publication series

Name	9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Mechanical Engineering
Control and Optimization

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/CYBER46603.2019.9066682

Cite this

Albalasie, A., Hussain, I., Horoub, M., Khan, S., Ali, S., & Gan, D. (2019). Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm. In 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019 (pp. 70-75). Article 9066682 (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER46603.2019.9066682

Albalasie, Ahmad ; Hussain, Irfan ; Horoub, Mamon et al. / Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm. 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 70-75 (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019).

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title = "Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm",

abstract = "This paper presents the design, the prototype and the control of SCARA (Selective Compliance Assembly Robot Arm) to perform pick and place tasks for industrial applications. The robot has four degrees of freedom (DoFs) with a capability to carry payloads up to 1 kg with high accuracy, precision, and repeatability. The robot is designed using the CAD tools and its prototype development is carried out by manufacturing its mechanical parts (links, base) and selecting the proper off the shelf electrical (motors, controllers) and transmission components (belts, pulleys). We also present the mathematical formulation consisting of direct kinematics, inverse kinematics, and the dynamical equations of the robot. We also report a closed loop position control based on the Computed Torque Control (CTC) method. The Numerical simulations are performed in order to evaluate the performance of the robot by using the applied control technique. The future work includes the experiments on the hardware using the implemented control technique.",

author = "Ahmad Albalasie and Irfan Hussain and Mamon Horoub and Sikandar Khan and Sajid Ali and Dongming Gan",

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year = "2019",

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doi = "10.1109/CYBER46603.2019.9066682",

language = "English",

series = "9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019",

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Albalasie, A, Hussain, I, Horoub, M, Khan, S, Ali, S & Gan, D 2019, Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm. in 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019., 9066682, 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019, Institute of Electrical and Electronics Engineers Inc., pp. 70-75. https://doi.org/10.1109/CYBER46603.2019.9066682

Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm. / Albalasie, Ahmad; Hussain, Irfan; Horoub, Mamon et al.
9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 70-75 9066682 (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Albalasie, Ahmad

AU - Hussain, Irfan

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AU - Ali, Sajid

AU - Gan, Dongming

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N2 - This paper presents the design, the prototype and the control of SCARA (Selective Compliance Assembly Robot Arm) to perform pick and place tasks for industrial applications. The robot has four degrees of freedom (DoFs) with a capability to carry payloads up to 1 kg with high accuracy, precision, and repeatability. The robot is designed using the CAD tools and its prototype development is carried out by manufacturing its mechanical parts (links, base) and selecting the proper off the shelf electrical (motors, controllers) and transmission components (belts, pulleys). We also present the mathematical formulation consisting of direct kinematics, inverse kinematics, and the dynamical equations of the robot. We also report a closed loop position control based on the Computed Torque Control (CTC) method. The Numerical simulations are performed in order to evaluate the performance of the robot by using the applied control technique. The future work includes the experiments on the hardware using the implemented control technique.

AB - This paper presents the design, the prototype and the control of SCARA (Selective Compliance Assembly Robot Arm) to perform pick and place tasks for industrial applications. The robot has four degrees of freedom (DoFs) with a capability to carry payloads up to 1 kg with high accuracy, precision, and repeatability. The robot is designed using the CAD tools and its prototype development is carried out by manufacturing its mechanical parts (links, base) and selecting the proper off the shelf electrical (motors, controllers) and transmission components (belts, pulleys). We also present the mathematical formulation consisting of direct kinematics, inverse kinematics, and the dynamical equations of the robot. We also report a closed loop position control based on the Computed Torque Control (CTC) method. The Numerical simulations are performed in order to evaluate the performance of the robot by using the applied control technique. The future work includes the experiments on the hardware using the implemented control technique.

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Albalasie A, Hussain I, Horoub M, Khan S, Ali S, Gan D. Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm. In 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 70-75. 9066682. (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019). doi: 10.1109/CYBER46603.2019.9066682

Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm

Abstract

Publication series

Bibliographical note

ASJC Scopus subject areas

UN SDGs

Access to Document

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Cite this