wrong motion of SCARA robot in dynamic

I have implemented a SCARA RRP robot in Simulink Matlab. The robot's movement is carried out correctly using kinematics, but when I use the output data from kinematics as the input for dynamics, the robot performs a rotational and unproductive movement... Should I perform any specific calculations on my trajectories in the dynamics input?

Answer 1

[Umar]

Hi Elham,

The only thing that comes to my mind to check if your trajectories consider the dynamics of the system accurately. You may need to incorporate additional calculations to account for dynamic effects and optimize the robot's performance. By refining your trajectory inputs to reflect the dynamics of the SCARA robot, you can enhance its behavior and achieve more accurate simulations.

Hope this will help you get started.

[elham]

Do you have any solutions in this regard? I would appreciate it if you could guide me.

Answer 2

[Umar]

Hi Elham,

I can definitely help you guide by providing an example to enhance your trajectory planning by considering dynamics in Matlab:

function optimizedTrajectory = planDynamicTrajectory(initialTrajectory)

    % Perform dynamic calculations here

    % Consider factors like inertia, friction, and motor dynamics

    optimizedTrajectory = initialTrajectory; % Placeholder, replace with actual optimized trajectory
end

In the planDynamicTrajectory function, you can implement the necessary dynamic calculations based on the specific dynamics of your SCARA robot. By updating the trajectory planning process with these calculations, you can improve the accuracy of your simulations and enhance the robot's performance.