Modeling and controls for a laser glass cutting machine workcell robot

The SCARA (Selective Compliance Assembly Robot Arm)-Type Nimbl loader junior robot includes a four-degree of freedom robot manipulator arm. This thesis deals with three main areas of robot behavior: kinematics, dynamics and controls for the purpose of improving the performance of the Laser Glass Cutting Machine (LGCM) workcell. The thesis deals with developing kinematic and dynamic models of this robot arm and their application to task planning of this robot.;Task planning is done for SCARA-Type Nimbl loader robot, in which the robot starts from pick position to place position. A 4-3-4 joint trajectory was generated for pick-to-place path for the robot.;By applying the PID control technique to the integrated joint dynamic model, an independent joint control scheme was derived using a classical approach. An experimental verification study was done to prove the theoretical model of Work Cell robot.