Evaluación del desempeño de diversos controladores avanzados aplicados a un robot manipulador tipo SCARA.

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. [ABSTRACT FROM AUTHOR]