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- Title
Evaluación del desempeño de diversos controladores avanzados aplicados a un robot manipulador tipo SCARA.
- Authors
Muñoz, Elena; Mosquera, Víctor Hugo; Gaviria, Carlos Alberto; Vivas, Oscar Andrés
- 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.
- Subjects
ELECTRIC controllers; ROBOT control systems; PID controllers; AUTOMATIC control systems; MATHEMATICAL models
- Publication
Ingeniería y Desarrollo, 2011, Vol 2, Issue 29, p202
- ISSN
2145-9371
- Publication type
Article