Trajectory Tracking and Disturbance Rejection Performance Analysis of Classical and Advanced Controllers for a SCORBOT Robot

Trajectory Tracking and Disturbance Rejection Performance Analysis of Classical and Advanced Controllers for a SCORBOT Robot

This work presents the design and assessment of four control schemes for the monitoring and regulation of joint trajectories applied in the dynamic model of a SCORBOT-ER V plus robot, which includes the dynamics of the actuators, and the estimation of the friction forces present within the joints. T...

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Bibliographic Details
Main Authors: John Kern, Claudio Urrea, Humberto Verdejo, Rayko Agramonte, Cristhian Becker
Format: Article
Language:English
Published: MDPI AG 2024-03-01
Series:Robotics
Subjects:
tracking
regulation
dynamic model
SCORBOT
computed torque
PID
Online Access:https://www.mdpi.com/2218-6581/13/3/48

Internet

https://www.mdpi.com/2218-6581/13/3/48

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