Pick and place applications by using a SCARA robot manipulator

In this study, a SCARA (Selectively Compliant Articulated Robot for Assembly) Robot Manipulator?s position control is studied. To perform robot?s position control, forward and inverse kinematics problems were solved, jacobian and transformation matrixes were calculated. Appropriate valves were selected for operating pneumatic components (cylinder, gripper). Circuits were made to trigger the valves. To excite the DC motors, driver circuits were made. An eligible data acquisition card was chosen which provides communication among control program was written with Visual Studio and specified equipments which are feedback components (potantiometer), motor driver circuits and valve driver circuits. To verfiy position and angle values which are calculated with the control programme, the robot was designed with SolidWorks programme. At the end of the verifications observed results are compatible.