Modelling SCARA robot with closed kinematic chain

Cilj ovoga diplomskoga rada jest modelirati SCARA robot sa zatvorenim kinematskim lancem. Najprije je izrađen kinematski model robota pomoću matrice homogenih transformacija, a potom je, na temelju njega, izrađen aproksimirani dinamički model simuliran u Matlabu po x, y i z koordinatama s PID regulatorom. Nakon toga je u programskom alatu Solidworks izrađen 3D model SCARA robota. Potom je taj model uveden u Matlab pomoću alata Simscape te je generiran dinamički model unutar Matlabovog paketa Simulink. Model iz Simulinka nakon toga je uspoređen sa simulacijom dinamičkoga modela. Aproksimirana dinamika se pri jednostavnijim kretnjama poklapa s rezultatima simulacije iz Simscapea, dok pri kompleksnim pokretima dolazi do određene razlike, što je bilo očekivano s obzirom na složenost egzaktnog izračuna dinamike. Upravo je to razlogom da se – umjesto diferencijalnih proračuna dinamike – predlaže korištenje Simscapea.The goal of this thesis is to model the SCARA robot with a closed kinematic chain. First, a kinematic model of the robot was created using a matrix of homogeneous transformations, and then based on it, an approximate dynamic model was created, simulated in Matlab by x, y and z coordinates with a PID controller. After that, a 3D model of the SCARA robot was created in the Solidworks software. The model was then imported into Matlab using the Simscape tool, and a dynamic model was generated within Matlab's Simulink package. After that, the model from Simulink was compared with the simulation of the dynamic model. The approximated dynamics for simpler movements coincides with the simulation results from Simscape, while for complex movements there is a significant difference, which was expected considering the complexity of the exact dynamics calculation. It is for this reason that it is suggested to use Simscape instead of differential dynamics calculations