Model-Based Design Approach for Cartesian Robot Using Computed Torque Control

Cartesian robots, widely used for high- speed pick-and-place tasks remain limited by accuracy and repeatability issues. These limitations are particularly problematic in the plastic injection molding industry, which requires integrated quality control and efficient post- molding processes. Traditional solutions involve the deployment of an additional articulated robot, escalating complexity and cost. Addressing these challenges, our research introduces a Model- Based Design (MBD) approach to develop an optimal control law, based on Computed Torque Control. This study proceeds in two steps: first, modeling the existing system with its current control based on Proportional-Integral Controller, and then the implementation of CTC control to compare the performance of the system in terms of trajectory tracking with both types of control. In addition, the study highlights also the benefits of utilizing trajectory generation over traditional point- by-point control methods to substantially elevate operational efficiency and accuracy of cartesian robot. By leveraging MBD, we simulate and fine- tune the robot's functionalities in a virtual setting before implementation, ensuring enhanced robustness and reliability.