Robust vibration control for SCARA robots using adaptive pole placement

Abstract

SCARA robot motions generally consist of the following two motions: one is horizontal transportation of loads by actuating two revolute joints, the other is vertical transportation by actuating a prismatic joint. The paper deals with an adaptive controller design for the former motion with vibration suppression of the prismatic joint. The proposed controller provides the performance robustness of control systems with respect to estimation error of mass of loads. Experimental results demonstrate the effectiveness of the proposed method.