Simulation of the SCARA manipulator using the provided trajectory data using MATLAB

Introduction—

MATLABSolutions demonstrate In this task we are going to design goal We will be working with the RRPR SCARA manipulator in this project; we have provided the trajectory data and the manipulator settings that we will utilise for simulation. To compute the kinematic inversion with inverse and Jacobian transpose along the provided trajectory, we must write a MATLAB function. In the second stage, we have to relax one component in the operational space by fixing one of the orientations in the manipulator. We run the model by using the Euler integration algorithm with a time step of 1ms. A robot manipulator is constructed from several joints joining a number of links. The joints may be simple, such as a revolute joint or a prismatic joint, or they may be complex, such as a ball and socket joint. A revolute joint is similar to a hinge and permits a relative rotation about a single axis, but a prismatic joint only allows a linear motion along a single axis, such as extension or retraction. The SCARA robot's horizontal joint design is the most popular. Different sizes, motor speeds, and loads are typically taken into consideration while designing SCARA robots. Industries are increasingly using SCARA robots with three degrees of freedom for tasks like packing and assembly. Utilizing manipulator robots extensively throughout contemporary industrial growth has resulted in advances in quality and productivity in made goods, primarily because they are better consistency of robot motion, which has subsequently increased the precision of their performance.

The transformation matrices for each link will be calculated as part of this simulation, and from there, the Jacobian matrix will be found using the equation that yields the coordinates of the end effector. The Jacobian inverse will then provide the angle of the manipulator joint based on the end effector's position. Inverse kinematics may be used to forecast how a robot will travel in order to get to a particular location by employing kinematic equations. Inverse kinematics is the mathematical process of finding the variable joint parameters necessary to position the last link in a kinematic chain, such as a robot manipulator. To determine the joint settings that provide each of the robot's end-effectors the right configuration, inverse kinematics use the kinematics equations. For the simulation of the SCARA manipulator using the provided trajectory data, we will utilise both MATLAB and Simulink.

Methodology —

The SCARA manipulator is unique among manipulators because of its Revolute, Revolute, Prismatic RRP structure and four-degrees-of-freedom kinematics. In terms of appearance and range of applications, the SCARA manipulator is significantly unlike to the spherical manipulator. A SCARA manipulator has parallel wrist, elbow, and shoulder rotary joints as well as a vertical axis that passes through the wrist's centre of rotation. This form of manipulator is especially common in light-duty applications, such as electronic assembly.

A SCARA manipulator is a type of arm used in robotics. It is made up of four main parts: a base, an upper arm, a lower arm, and a gripper. The base is mounted on a fixed location, and the other three parts are connected to it via joints. The upper arm and lower arm are connected by a hinged joint, and the gripper is connected to the lower arm via a ball-and-socket joint. The main advantage of SCARA manipulators is their high degree of accuracy and repeatability. They are often used in applications where precise movements are required, such as in assembly tasks or in measuring and inspection tasks. Another advantage of SCARA manipulators is that they can operate in relatively confined spaces. There are several disadvantages of SCARA manipulators. One is that they are relatively slow, due to the need to move the joints through their full range of motion in order to achieve the desired movement of the gripper. Another disadvantage is that they are not as versatile as other types of arms, such as articulated arms, which can reach around obstacles. Finally, SCARA manipulators can be relatively expensive.