Evaluation of performance of some control strategies applied to a SCARA robot manipulator

Authors

Abstract

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.

Author Biographies

  • Elena Muñoz, University of Cauca

    Profesora asociada de la Universidad del Cauca, Popayán (Colombia). Magíster en Electrónica y Telecomunicaciones, Universidad del Cauca.

  • Víctor Hugo Mosquera, University of Cauca

    Profesor titular de la Universidad del Cauca, Popayán (Colombia). Magíster en Electrónica y Telecomunicaciones, Universidad del Cauca.

  • Carlos Alberto Gaviria, University of Cauca

    Profesor titular de la Universidad del Cauca, Popayán (Colombia). Ph.D., Universidad Politécnica de Cataluña (España).

  • Oscar Andrés Vivas, University of Cauca
    Profesor titular de la Universidad del Cauca, Popayán (Colombia). Ph.D., Université de Montpellier II (Francia).

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Issue

Vol. 29 No. 2 (2011): July - December

Section

Articles

How to Cite

[1]
“Evaluation of performance of some control strategies applied to a SCARA robot manipulator”, Ing. y Des., vol. 29, no. 2, pp. 202–223, Dec. 2011, Accessed: Oct. 23, 2026. Available: https://rcientificas.uninorte.edu.co/ingenieria/article/view/3621