modeling, control, and simulation of a scara prr-type robot manipulator

In this study, a scara prismatic-revolute-revolute-type (prr) robot manipulator is designed and implemented. firstly, the scara robot was designed according to the mechanical calculations. then, forward and inverse kinematic equations of the robot are derived by using d-h parameters and analytical methods. the software is developed according to obtain cartesian velocities from joint velocities and joint velocities from cartesian velocities. the trajectory planning is designed using the calculated kinematic equations and the simulation is performed in matlab vrml environment. a stepping motor is used for prismatic joint of the robot, and servo motors are used for revolute joints. while most of the scara robot studies focus on rrp-type servo control strategy, this work focuses prr-type and both stepper and servo control structures. the objects in the desired points of the workspace are picked and placed to another desired point synchronously with the simulation. so the performance of the robot is examined experimentally.