Control of the SCARA robot

Final project of the Robotics and Control course

Jun 13, 2021
Representation of the SCARA robot in 3D.

Activity goal

After having derived the equations of motion for the SCARA robot, 2 constrol solutions were designed, implemented and tested in MATLAB and simulink for trajectory tracking purposes. Specifically the first is a PD with gravity compensation controller, while the second one is a Feedback linearization controller.

Robotics
Alessandro Canevaro
Alessandro Canevaro
MSc student

My research interests include Computer Vision, Autonomous Systems and Machine Learning.