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

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.