Simulation of a SCARA robot with PD and learning controllers |
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| Affiliation: | 1. Department of Electronics and Computer Education, Faculty of Technical Education, Mersin University, 33480 Tarsus, Mersin, Turkey;2. Department of Electrical and Electronics Engineering, Faculty of Engineering, Mersin University, 33343 Ciftlikkoy, Mersin, Turkey;1. Department of Micro-Nano Systems Engineering, Nagoya University, Japan;2. Department of System Cybernetics, Hiroshima University, Japan;3. Faculty of Science and Engineering, Meijo University, Japan;4. Institute for Advanced Research, Nagoya University, Japan;5. Intelligent Robotics Institute, School of Mechatronic Engineering, Beijing Institute of Technology, China;1. Department of Chemistry, Federal University Lafia, Nasarawa, Nigeria;2. Department of Chemistry, Ahmadu Bello University Zaria, Kaduna, Nigeria |
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| Abstract: | In this study, a SCARA robot manipulator is simulated under PD and learning based controllers. The trajectory following performance of the robot is studied against these controllers. The adaptive/learning hybrid controller scheme and learning controller method are utilized as learning based controllers. The results of simulations show that, learning algorithm based controllers reduce the position tracking error effectively. The hybrid adaptive/learning controller has similar performance as the learning controller although it uses partial state information and compensates both mechanical and electrical dynamics, whereas the learning controller needs both position and velocity measurements neglecting electrical dynamics. |
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