Modeling and digital control of direct drive arm

The SCARA type direct drive arm (DDA) sustaining the attribute of a parallel linkage mechanism is modeled and controlled. The control of DDA becomes more sophisticated compared to the conventional geared arm due to the substantial increase of moving speed and dynamic interactions. In order to solve this problem, the complete discrete-time dynamic model is developed. The dynamic compensation control scheme based on the discrete-time dynamic model is tested and evaluated according to the tracking performances of the given trajectories. This control scheme based on the dynamic compensation at sampling rate 100 Hz shows better performance than the independent joint control scheme of 1.5 KHz sampling rate.<
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