Ingeniare. Revista chilena de ingeniería
versión On-line ISSN 0718-3305
VIVAS ALBAN, Oscar Andrés. PREDICTIVE CONTROL OF A SCARA ROBOT. Ingeniare. Rev. chil. ing. [online]. 2006, vol.14, n.2, pp. 135-145. ISSN 0718-3305. http://dx.doi.org/10.4067/S0718-33052006000100007.
This paper describes an efficient approach for model based control, applied on a SCARA robot. The studied control is the predictive functional control which uses a simplified dynamical model of the robot. The simulated tests are made on a SCARA type robot, with four DOF. To compare several control strategies, a classical PID control and two model based controllers are designed. In the last case, the model is first linearized and decoupled by feedback, transforming the system into a double set of integrators. Computed torque control and predictive functional control are applied to the linear and decoupled system. The three studied controllers are simulated on the SCARA robot with real numerical values. Tracking performance, disturbance rejection and model robot mismatch are enlightened, using complex machining tasks trajectories and error presence in the modelling with complex features.
Palabras clave : Industrial robots; robot control; model based control; predictive functional control.