In my thesis I worked on the improvment of the control system of a SCARA robotic arm, which has two degrees of freedom. My purpose was to create a control unit, which can execute a fast and precise move of the robot arm, and has small overshoot.
To achieve the wanted motion of the robot arm I designed the centralised controllers, which is based on the theory of the computed torque method. I had to define this robotarm's dynamic model and it's physical parameters, to use the computed torque method.
In the first chapter I describe the structure and the physical parameters of the robotic arm. I have calculate the moment of inertia, the mass and the center of gravity of the joints of the robot. I review the driving structure and the electric system in detail. At the and of the first chapter I provide insight to the operation, set up and the usage of the MATLAB Simulink and ControlDesk development environments.
In the next chapter I present the centralised controller system. First I provide insight to the steps of calculation of the dynamic model. This model is the principle of the centralised controller's concept. I designed and implemented this controller system, which was tested in a simulated environment as well as in the robotic arm. These systems was impelemented in MATLAB Simulink development environ, and the operation was controlled and monitored useing the ControlDesk program.
The preparation steps of the design and implementation of a decentralised controller will be presented in the last chapter. I had the opportunity to compare this two type of control theory by creating an universal environment. I had tested the motion of these controllers on the robotic arm adding extra weight as well as empty. I will present these results of the measurement of the motion of the robotic arm.