Modeling, Simulation and Control of a Redundant SCARA-Type Manipulator Robot

Abstract

In this paper, the modeling of a redundant SCARA-type manipulator robot with five degrees of freedom is presented. We propose three controllers - hyperbolic sine-cosine, sliding mode, and calculated torque - which are applied to the discussed model. A simulation environment is developed using MatLab/Simulink programming tools. This simulation environment is employed to perform several tests (including actuators' dynamics) on the model of the redundant manipulator, with each different controller, under path tracking requirements. Results were obtained from comparative curves and rms index for joints and Cartesian errors.