Abstract
This paper aims to report potential applications to precision position control of Selective Compliance Assembly Robot (SCARA) applying analysis of non-linear vibration. Position accuracy of horizontal articulated robot is investigated by servo mechanism, control compensator and task-coordinate servoing method. SCARA is known for its smooth acceleration and deceleration with servo control. On the assuming that non-linear vibration is one of the important factor for position accuracy, the analyses against mechanical system of horizontal articulated robot were adapted. The procedure is as follows. 1. Dividing the vibration phenomena to each level of oscillation amplitudes 2. Analytically modeling the system and calculating with accurate analytical procedures: numerical solutions, analytical solutions and identifying the function or natural frequency by the step response of an equivalence circuit. 3. Measures are undertaken at each phase. Against the problem on errors of detection equipments for future industrial robot, which was working together between humans, auxiliary sensing system was described as remaining problems.
