Dynamic Modelling and Motion Control of a 4-DOF SCARA Robotic Arm for Various Farm Applications

Agriculture as a key industry for human food suply will face various concerns in near future. This research is complementary and aims to present the dynamic modelling and simulation, as well as algorithm development of a 4-DOF SCARA-type robotic arm designed for real agricultural cultivation process, such as seeding, watering, fertilizing, weeding, etc. In terms of a previously designed system, the equations of motion profile were solved (acceleration and deceleration control of joints) to reduce inertia, ensure a smooth motion, and minimize torque requirement. The algorithm is evaluated by PTP motion, TCP linear motion, and spline motion. The results show that the developed algorithm can move the TCP using ST-profile. Furthermore, it can control all joints for an estimated time duration. A novel method was developed to manoeuvre the TCP along the shortest path to reach a goal point. Finally, the algorithm was evaluated in a closed path inside the working space.