Model Predictive Trajectory Tracking Control of 2 DoFs SCARA Robot under External Force Acting to the Tip along the Trajectory

The robot arms often follow a certain trajectory depending on the type of end effector with functions spray-painting, arc welding, bonding or machining etc. Therefore, trajectory-tracking control is very important issue in arm applications. Also, must be able to determined stably under influence external forces it encounters its operations. In this study, Model Predictive Control (MPC) for tracking 2 Degrees Freedom (DoFs) Selective Compliant Assembly Robot Arm (SCARA) an force acting tip along was performed. effectiveness MPC method used has been demonstrated by simulation According studies, successful results were obtained.