The Scara Robot Adaptive Fuzzy Control Study

SCARA robot is both compact and simple, the pace and accuracy are better, in electronic industry, this kind robot is used in common to carry out assembling assignment, so it is named assemble robot also. In this thesis, the robot is studied.First, the D-H method is adopted to establish the robot's direct kinematics model, which avoid a large amount of inverse multiply operation of matrix. Then, the inverse kinematics problem of robot is studied, and the fuzzy logic system with universe approximation is adopted to fuzzy identification. As a result, the identify model approaches exactly the true system, so it is demonstrated that this method is efficient.Next, based on the kinematics model, the adaptive fuzzy control method is given, the unknown parameters in fuzzy logic system of the control law can be adjusted adaptively. It has been testified that this method is able to make the robot track the expectation trajectory stablely.At last, the dynamic of robot is studied, Lagrange formulation is also applied to find the dynamic model. To this robot, an adaptive fuzzy controller based on dynamic model is given, it has been also testified that the method is able to make the robot track the expectation trajectory stablely. And simulation result of these schemes of kinematics control schemes and a dynamic control schemes verify the effectiveness of these approaches.