Simulation of SCARA robot control

U ovom završnom radu napravljen je simulacijski model SCARA robota s četiri stupnja slobode gibanja u programskom paketu MATLAB/Simulink. Prvo je riješen direktni kinematički problem koristeći matrice homogenih transformacija, a zatim je izveden dinamički model. Simulacijski model je potom nadopunjen s povratnim spregama i regulatorima za različite upravljačke pristupe. Na kraju su prikazani odzivi robota u zatvorenom upravljačkom krugu i dana je usporedba promatranih pristupa upravljanja.In this undergraduate thesis, a simulation model of the SCARA robot with four degrees of freedom of motion was created in the MATLAB/Simulink software package. First, the direct kinematic problem was solved using matrices of homogeneous transformations, and then the dynamic model was derived. The simulation model is then supplemented with feedback loops and controllers for different control approaches. At the end, the responses of the robot in a closed control loop are presented and a comparison of the observed control approaches is given