Simulation of a SCARA robot with PD and learning controllers

Yamacli S., CANBOLAT H.

Simulation Modelling Practice and Theory, vol.16, no.9, pp.1477-1487, 2008 (Journal Indexed in SCI Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 16 Issue: 9
  • Publication Date: 2008
  • Doi Number: 10.1016/j.simpat.2008.08.004
  • Title of Journal : Simulation Modelling Practice and Theory
  • Page Numbers: pp.1477-1487
  • Keywords: Hybrid adaptive/learning controller, Learning controller, PD controller, SCARA robot


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. © 2008 Elsevier B.V. All rights reserved.