Repeatability is one of the most important features of an industrial robot. It is a key feature stated by commercial robot manufacturers. Details of repeatability calculation method for industrial robots is presented by ISO 9283. However, the well...

linear-rotary joint. SCARA is a common industrial robot with inherent high joint repeatability and rigidity. As a result, repeatability of the proposed joint is essential. To pick up and place a work piece, a vacuum system tubing must be designed...

. These specifications are in line with existing industrial robots. However, unlike the existing commercial robots, the control architecture in FUM SCARA is designed to

allow for simple implementation of new control algorithms. Finally, using a PID controller, a...