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
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Elena Muñoz; Universidad del CaucaVíctor Hugo Mosquera; Universidad del CaucaCarlos Alberto Gaviria; Universidad del CaucaOscar Andrés Vivas; Universidad del CaucaColombia2013-08-31T23:11:07Z2013-08-31T23:11:07Z2011-12-11http://rcientificas.uninorte.edu.co/index.php/ingenieria/article/view/3621http://hdl.handle.net/10584/4171This 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.Este artículo presenta una evaluación del desempeño de varios controladores avanzados aplicados al control cartesiano de un robot manipulador de cuatro grados de libertad, tipo SCARA. Inicialmente se expresa el modelo dinámico del robot, para posteriormente implementar en simulación diversos tipos de controladores. Algunas simulaciones no están basadas en modelos como el PID; otras, en cambio, se basan en modelos como el control por par calculado, el control robusto, el control predictivo, el control PID multivariable y el control por modos deslizantes. Se realiza una evaluación del desempeño de estos controladores probando diversas trayectorias cartesianas de tipo industrial, así como sus respuestas ante perturbaciones y ante cambios en los valores de los parámetros dinámicos.application/pdfspaUniversidad del NorteRevista Científica Ingeniería y Desarrollo; Vol 29, No 2 (2011): Julio - Diciembre; 202-223instname:Universidad del Nortereponame:Repositorio Digital de la Universidad del NorteEvaluation of performance of some control strategies applied to a SCARA robot manipulatorEvaluación del desempeño de diversos controladores avanzados aplicados a un robot manipulador tipo SCARAarticlepublishedVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/resource_type/c_6501http://purl.org/coar/access_right/c_abf210584/4171oai:172.16.14.36:10584/41712015-10-07 01:47:19.966Repositorio Digital de la Universidad del Nortemauribe@uninorte.edu.co |
| dc.title.none.fl_str_mv |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator Evaluación del desempeño de diversos controladores avanzados aplicados a un robot manipulador tipo SCARA |
| title |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator |
| spellingShingle |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator |
| title_short |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator |
| title_full |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator |
| title_fullStr |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator |
| title_full_unstemmed |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator |
| title_sort |
Evaluation of performance of some control strategies applied to a SCARA robot manipulator |
| dc.creator.fl_str_mv |
Elena Muñoz; Universidad del Cauca Víctor Hugo Mosquera; Universidad del Cauca Carlos Alberto Gaviria; Universidad del Cauca Oscar Andrés Vivas; Universidad del Cauca |
| dc.contributor.author.none.fl_str_mv |
Elena Muñoz; Universidad del Cauca Víctor Hugo Mosquera; Universidad del Cauca Carlos Alberto Gaviria; Universidad del Cauca Oscar Andrés Vivas; Universidad del Cauca |
| description |
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. |
| publishDate |
2011 |
| dc.date.issued.none.fl_str_mv |
2011-12-11 |
| dc.date.accessioned.none.fl_str_mv |
2013-08-31T23:11:07Z |
| dc.date.available.none.fl_str_mv |
2013-08-31T23:11:07Z |
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article |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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http://purl.org/coar/resource_type/c_6501 |
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publishedVersion |
| dc.identifier.other.none.fl_str_mv |
http://rcientificas.uninorte.edu.co/index.php/ingenieria/article/view/3621 |
| dc.identifier.uri.none.fl_str_mv |
http://hdl.handle.net/10584/4171 |
| url |
http://rcientificas.uninorte.edu.co/index.php/ingenieria/article/view/3621 http://hdl.handle.net/10584/4171 |
| dc.language.iso.none.fl_str_mv |
spa |
| language |
spa |
| dc.relation.ispartof.none.fl_str_mv |
Revista Científica Ingeniería y Desarrollo; Vol 29, No 2 (2011): Julio - Diciembre; 202-223 |
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http://purl.org/coar/access_right/c_abf2 |
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http://purl.org/coar/access_right/c_abf2 |
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application/pdf |
| dc.coverage.spatial.none.fl_str_mv |
Colombia |
| dc.publisher.none.fl_str_mv |
Universidad del Norte |
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Universidad del Norte |
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instname:Universidad del Norte reponame:Repositorio Digital de la Universidad del Norte |
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Universidad del Norte |
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Universidad del Norte |
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Repositorio Digital de la Universidad del Norte |
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Repositorio Digital de la Universidad del Norte |
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Repositorio Digital de la Universidad del Norte |
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mauribe@uninorte.edu.co |
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1818112447042551808 |