THIẾT KẾ BỘ ĐIỀU KHIỂN CHO ROBOT SCARA CÔNG NGHIỆP 4-BẬC

Abstract

This paper presents the design and implementation of a controller for a 4-degree-of-freedom (4-DOF) industrial SCARA robot. The proposed controller was implemented and experimentally evaluated on a 4-DOF SCARA robot model. First, the robot’s motion was formulated using forward and inverse kinematics. A simulation model was then developed in SolidWorks and Matlab to verify the kinematic model. Next, the central control circuit was designed in Eagle, while the control software and user interface were developed in the C programming language to perform the required robot operations. Finally, experiments were conducted on the physical robot model to carry out pick-and-place tasks at predefined coordinates. The results show that the robot operates stably, accurately, and at high speed in pick-and-place applications. In addition, the proposed controller can be extended to support up to six axes, thereby broadening its applicability to other robot configurations. Owing to its low implementation cost compared with proprietary commercial controllers, the proposed system is well suited for teaching, learning, and research in robot control.