A dynamic modeling and control was performed on the KIRO-3 SCARA type robot system consisting of composite material arms and drive amplifiers for BLDC motors.
Dynamic models were developed for the arm model and the model of amplifier and actuator combination. The model of overall robot system can be used as a simulation tool and also can be used for the model based control. Due to the increased operating speed and dynamic non-linearity, dynamic compensations have to be considered to control the DDR. Thus the model of drive amplifier and actuator combination, as well as the arm dynamic model, was used as the feed-forward inverse model for the improvement of control performances.
