Simulation study of advanced control strategies for Adept One SCARArobot

摘要

Variable structure control and adaptive control are two advancedcontrol strategies for robot manipulator. However, the advantages anddisadvantages of these two control strategies are not clear to engineersnew in this field. This paper presents a comparative study of these twostrategies on the Adept One SCARA robot. Four situations, namely theideal situation, the situation where there is payload, the situationwhere there is joint friction and the situation where there is externaldisturbance are studied. Simulation studies reveal clearly theadvantages and disadvantages of both schemes