Thus, an AI fuzzy-based control algorithm has to be optimally developed to resolve the SCARA sluggishness in achieving tasks. However, the proposed Fuzzy logic PD type one controller has been produced a less-optimum response with the inherent system nonlinearities. Both AI-based controllers have been efficiently dealt with robot nonlinear models and friction rejection. Comparatively, the test results are tabulated with related existing published results. That has been tested using procedures based on half- elliptic and full-elliptic trajectories. These AI architectures regulate the position tracking error of the end effectors' forces.

These nonlinear controllers have been realized as AI-based fuzzy architectures for the position part from the impedance controller fuzzy logic proportional derivative (PD) control-type one and Fuzzy logic proportional derivative integral (PID) control type two. Consequently, a generalized dynamic five degree of freedom SCARA (5-Dof SCARA) has mathematically been modelled. Since SCARA has an inherently nonlinear dynamic system and friction rejection, this work develops an artificial intelligent (AI) fuzzy-based nonlinear control algorithm (impedance strategy).

To meet the COVID-19 challenges, the fifth digital industrial wave demands an artificially-intelligent control system advances in selective compliance assembly robot arm (SCARA). Results indicate low error during the fast trajectory. Finally, using a PID controller, a critical trajectory in robot's workspace is traced. However, unlike the existing commercial robots, the control architecture in FUM SCARA is designed to allow for simple implementation of new control algorithms. These specifications are in line with existing industrial robots. The FUM SCARA robot offers impressive performance such as ∼☐.01 mm repeatability, maximum linear velocity of 8.5 m/s in xy plane, 0.5 seconds pick and place cycle time and a flexible control system. The challenge was to use readily available components in Iran with an eye on keeping the costs down. The design process included, joint design, link design, controller design as well as selection of mechanical and electrical components. SCARA robots are among the most widely used robots in industry due to their inherent rigidity and high accuracy. This paper presents mechanical design process of an industrial and economical SCARA robot, called FUM SCARA, designed by a team of students at the Ferdowsi University of Mashhad, in Iran.

Scara robot working pdf