Disturbance observer implementation of scara robot with matlab simulation

In this thesis, the design of Nonlinear Disturbance Observers and Adaptive Kalman Filter for robotic manipulators of SCARA is studied and comparisons of the results have been realized. The use of Disturbance Observers and Adaptive Kalman Filter is an important way to increase the stability and efficiency of the control systems subject to disturbances. Rigorous observers for the monitoring of mechatronic devices have been commonly used. This study includes the design and software implementation of a SCARA PRPR-type robot manipulator. First, the mechanical calculations are realized for the designed SCARA robot. Then, forward and inverse kinematic equations are derived by using D-H and analytical methods. The MATLAB simulation presents the dynamic analysis that describes the force effects on the robot. Two types of forces impact the robot. First, the internal force is created due to uncertainties in robot modeling, for example, friction in the joints of the robot. Second, the external force may occur because of the external factors that influence the end effector role. The external force causes errors in reaching the target coordinates. This thesis aims at solving this problem using an algorithm for observing disturbances, and the results with Disturbance Observer and Adaptive Kalman Filter are compared. Keywords: SCARA robot, Kinematics of SCARA robot, Inverse Kinematics, Dynamics, Disturbance Observer, Adaptive Kalman Filter.