Evaluation of performance of some control strategies applied to a SCARA robot manipulator
This article presents an evaluation of performance of several advanced controllers applied to the operational control of four degrees of freedom SCARA robot. First the dynamic model of the robot is presented. Then, several controllers are designed, beginning by classical PID controller that is not b...
- Autores:
-
Elena Muñoz; Universidad del Cauca
Víctor Hugo Mosquera; Universidad del Cauca
Carlos Alberto Gaviria; Universidad del Cauca
Oscar Andrés Vivas; Universidad del Cauca
- Tipo de recurso:
- Fecha de publicación:
- 2011
- Institución:
- Universidad del Norte
- Repositorio:
- Repositorio Uninorte
- Idioma:
- spa
- OAI Identifier:
- oai:manglar.uninorte.edu.co:10584/4171
- Acceso en línea:
- http://rcientificas.uninorte.edu.co/index.php/ingenieria/article/view/3621
http://hdl.handle.net/10584/4171
- Palabra clave:
- Rights
- License
- http://purl.org/coar/access_right/c_abf2
| Summary: | This article presents an evaluation of performance of several advanced controllers applied to the operational control of four degrees of freedom SCARA robot. First the dynamic model of the robot is presented. Then, several controllers are designed, beginning by classical PID controller that is not based on a mathematical model. Then, model based control approaches are analyzed, like the computed torque control, robust and predictive control, multivariable PID, and sliding control. Several operational industrial trajectories are tested, as soon as the robustness with respect to external disturbances or model robot mismatch. |
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