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Detailed Analysis of SCARA-Type Serial Manipulator on a Moving Base with Labview ARTICLE International Journal of Advanced Robotic Systems Detailed Analysis of SCARA-Type Serial Manipulator on a Moving Base with LabView Regular Paper Alirıza Kaleli1,*, Ahmet Dumlu1, M. Fatih Çorapsız1 and Köksal Erentürk1 1 Department of Electrical and Electronics Engineering, University of Ataturk, Turkey * Corresponding author E-mail: [email protected] Received 24 Sep 2012; Accepted 19 Feb 2013 DOI: 10.5772/56178 © 2013 Kaleli et al.; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract Robotic manipulators on a moving base are used vehicles, space vehicles and surface ships, can be attached in many industrial and transportation applications. In this to moving bases. These manipulators are affected by study, the modelling of a RRP SCARA‐type serial disturbances of the moving base. For example, manipulator on a moving base is presented. A Lagrange‐ manipulators attached to the surface of a ship are affected Euler approach is used to obtain the complete dynamic by the motion of the sea. Underwater vehicles are placed model of the moving‐base manipulator. Hence, the under additional forces produced by flow dynamics and dynamic model of the manipulator and the mobile base are frictional effects. The manipulators used in space research are affected by variable gravitational forces. These expressed separately. In addition, Virtual Instrumentation undesirable disturbances have an important effect on (VI) is developed for kinematics, dynamics simulation and motion and make it difficult to control the manipulator [1, animation of the manipulator combined with the moving‐ 2]. base system. Using the designed VI in LabView, the relationship between frequency of disturbances of the It is necessary to develop a complete dynamic model for moving base and joint torques is investigated. The robotic manipulators attached to a moving base in order obtained results are presented in graphs. to increase the quality of control. For some applications, such as spray painting, it is necessary to move the end Keywords RRP Manipulator, Mobile Base, Dynamic effector of the manipulator along some desired paths Model, Labview, Simulation with prescribed speed. To achieve this goal, certain dynamical equations must be determined including the parameters from the fixed base to the end effector. These 1. Introduction equations are applicable for fixed‐base manipulators, but we are obliged to adopt these equations for moving‐base Robotic manipulators utilized in many industrial and manipulators, too, in order to avoid target tracking errors transportation applications, such as in underwater in the end effector. Therefore, the motion of the www.intechopen.com Alirıza Kaleli, Ahmet Dumlu,Int J Adv M. Robotic Fatih Çorapsız Sy, 2013, and Vol. Köksal 10, 189:2013Erentürk: 1 Detailed Analysis of SCARA-Type Serial Manipulator on a Moving Base with LabView manipulator mounted on the moving base should be The organization of the rest of the paper can be described by a complete dynamic model. There are a lot summarized as follows: In section 2 the modelling of a of studies in the literature which take account of moving SCARA‐type manipulator robot with three degrees of bases in dynamic modelling and control algorithms [3, 4, freedom is presented. General dynamic models of the 5, 6]. A dynamic model of a 1‐DOF robotic manipulator manipulator and mobile base are presented in section 3. on a moving platform is presented in [7]. A dynamic The designed VI and simulation results are discussed in model of a robotic manipulator base is derived in [8] and section 4. Finally, concluding remarks are given in section used for simulation of a 2‐DOF robot on a 3‐DOF base. 5. Computational methods to simulate a manipulator mounted on an underwater vehicle are presented in [9]. 2. SCARA‐type Manipulator In this paper, a SCARA RRP (Revolute Revolute In general, a traditional SCARA‐type serial manipulator Prismatic), a manipulator with three degrees of consists of three interconnected joints. These freedom, was mounted on a two‐degree‐of‐freedom manipulators are commonly used in pick‐and‐place, mobile base. Kinematic analysis of the manipulator assembly and packing applications in industry and carried out first by using Denavit‐Hartenberg (D‐H) transportation [11, 12]. parameters. Then, the general dynamic model was developed for the manipulator and mobile base using a Especially when these manipulators are used in areas recursive method including all of the parameters. These such as space exploration and shipping, the degree of models of manipulator and mobile base were obtained freedom of the manipulator is increased due to the by using Lagrangian dynamics and the Mathematica moving base. Fig. 1 shows a schematic of a SCARA‐type program, because of the complex structure of dynamic manipulator and its mobile base. models. Finally, the obtained dynamic equations were adapted in the LabView program and the simulation results were obtained. Using the LabView environment to simulate the considered system with the aid of the dynamic model derived is the main contribution of the present study. LabView is a graphical programming language produced by National Instrumentation. It has been widely adopted throughout industry and academia as a standard for instrument control and data analysis simulation software. LabView also provides scientists and engineers with interactive programming for system design and control. The advantage of utilizing Figure 1. Schematic of a SCARA‐type manipulator and mobile LabView is that it provides a powerful and flexible base. instrumentation and data analysis software system. LabView not only helps reinforce basic scientific, 2.1 Kinematics analysis of manipulator mathematical and engineering principles, but also allows communication with the real world. In order to obtain the kinematic model, we define the below‐listed frames, matrices and vectors as shown in The LabView program consists of two windows, the front Figure 1. panel and the block diagram. The block diagram is the LabView programming code. Its large libraries can be O: Fixed base frame attached on base of manipulator. used to write a program. The front panel is an interface of I: Inertial base frame. i a designed VI and includes knobs, switches, meters, Aj : Homogeneous transformation matrix from jth frame graphs, charts, etc. The LabView program provides an to ith frame. I interaction between supplying inputs and observing A0 : Homogeneous transformation matrix from frame O to frame I. outputs [10]. P : Position vector of frame O relative to frame I. In this study, a Virtual Instrumentation (VI) is built for ρ : Position of point on link i relative to frame i. i kinematics, dynamics, simulation and animation for ri : Position of point on link i relative to frame I. supporting the manual calculation of a three‐degree‐of‐ freedom SCARA‐type robot and a two‐degree‐of‐freedom As shown in Fig. 1, the SCARA‐type manipulator has mobile base. The designed VI can simulate visual three joints which are linked to the robot. Joint 3 is a movement of the SCARA robot and mobile base. translational joint which can move along the z‐axis, while 2 Int J Adv Robotic Sy, 2013, Vol. 10, 189:2013 www.intechopen.com joints 1 and 2 are rotational joints. For the coordinate If the 3‐DOF SCARA‐type manipulator has three systems shown in Fig. 1, the corresponding link generalized coordinates and the mobile base has n parameters are listed in Table 1. In addition, the generalized coordinates, the total generalized coordinate parameters of the manipulator are tabulated in Table 2. of the system will be (3+n) due to the inertial frame. In this study, we assume that α and β are redundant Joint (i) i ai di i coordinates; hence, the total generalized coordinate 1 0 a1 d1 θ 1 number of the system will be equal to five (qi=θ1, θ2, d3, α, 2 π a2 0 θ 2 β). 3 0 0 d3 0 Table 1. Denavit‐Hartenberg parameters of SCARA manipulator The position of a point on the centre of mass of link i relative to the inertial frame is given by Eq. (4): Symbol Description Value I 0 1 i 1 a1 length of link1 0.325 m ri A 0 A 1 A 2 .A i i (4) a2 length of link2 0.225m d1 length of link0 0.550 m I AO : This matrix is a function of the zs(α, β) redundant L length of link3 0.400 m generalized coordinate. m1 mass of link 1 12.28 kg I AO : This matrix is a function of the qi( 1, 2,d3) m2 mass of link 2 8.502 kg generalized coordinate. m3 mass of link 3 20.782 kg Table 2. Parameters of SCARA manipulator As each generalized coordinate is a time function, the velocity vector can be expressed as By applying the homogeneous transformations given by Eq. (1), one obtains the kinematic model given by 2 AI i A0 0 0 I i Eq. (2): ri v i Ai i z s A 0 i q j (5) s 1 zs j 1 qj cosi cosi sin i sin i sin i a i cos i The kinetic energy for a single point of mass, dm, can be i 1 sini cos i cos i sin i cos i a i sin i Ai (1) defined as 0 sin cos d i i i 0 0 0 1 T 1 dKi tr ri r i dm (6) 0 1 2 0 2 AAAA1 2 3 3 (2) It is necessary to describe the manipulator’s fixed base where tr is matrix trace.
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