The SCARA robot, abbreviated for Selective Compliance Articulated Robot Arm, is a type of industrial robot distinguished by its ability to move quickly and agilely within a two-dimensional workspace. A key feature of the SCARA robot is its 4 degrees of freedom, allowing it to perform remarkably flexible movements within a plane and rotate around the vertical axis. This article focuses on the mathematical modeling of a 4-degree-of-freedom SCARA robot. Subsequently, the paper investigates three typical control algorithms applied to this robot: the PD-G law, the Li-Slotine law, and fuzzy logic control. The results of numerical simulations conducted using MATLAB/Simulink demonstrate that all three control algorithms achieve good control performances when the load parameters remain constant. However, when the load parameters change, the PD-G control law exhibits a dependence on gravity that results in inferior performance compared to the other two algorithms. The promising simulation results of the Li-Slotine and fuzzy logic control algorithms suggest potential applications for 4-degree-of-freedom SCARA robots in industry.
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Vu et al. (2024) studied this question.
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