Modeling of scara robot with magnetic position sensor and analysis of magnetic position sensor

The aim of this thesis is to develop an encoder equipped with a magnetic position sensor and integrate the developed encoder on a 3-axis SCARA robot. Within the scope of the study, a magnetic encoders with 12-bit resolution were designed. Usage of the designed encoder in robotic applications was analyzed with the experiments applied on the SCARA robot, which was also developed within the scope of the thesis. The PCB designs of the magnetic encoder and the SCARA robot controller were made using the Altium design program. From the magnetic encoders used, position data were obtained by detecting through magnets placed on the motor shafts. The accuracy of the obtained position data at different motor speeds and different drive resolutions was analyzed. The effect of driver temperature on stepper motor performances in robot joints was investigated. In addition, the effect of the distance between the sensor and the magnet placed on the motor shaft against position errors was investigated. The problems that may be caused by the operation of the software algorithm were observed experimentally and the accuracy of the algorithm was tested. As a result of these experiments, it has been observed that magnetic position sensors can be used for precise positioning in robotic applications. However, it has been concluded that during the design of the robot system, the parameters of the encoder equipped with the sensor, its location and sensitivity that may change depending on external factors should be taken into account.