Development and Evaluation of Proportional-Derivative, Proportional-Derivative with Friction Compensation, Inverse-Dynamics, and Sliding-Mode Control Strategies for Trajectory-Tracking in Robotic Manipulators

Development and Evaluation of Proportional-Derivative, Proportional-Derivative with Friction Compensation, Inverse-Dynamics, and Sliding-Mode Control Strategies for Trajectory-Tracking in Robotic Manipulators

In this paper, four control strategies are developed and evaluated for the trajectory-tracking of a two-degree-of-freedom SCARA-type robotic manipulator: (i) a proportional-derivative controller (PD), (ii) a proportional-derivative controller with friction compensation (PD + G), (iii) an inverse-dyn...

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Bibliographic Details
Main Authors: David Robles, Ney Medrano, Yuliana Chicay, Marjorie Pilatasig, Gabriela M. Andaluz, Paulo Leica
Format: Article
Language:English
Published: MDPI AG 2024-11-01
Series:Engineering Proceedings
Subjects:
inverse dynamics
manipulator
trajectory-tracking
PD controller
robustness
SMC
Online Access:https://www.mdpi.com/2673-4591/77/1/18
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