Design and implementation of fault-tolerant control strategies for a real underactuated manipulator robot

Abstract This paper presents the design and implementation of four control strategies applied to a real underactuated manipulator robot with 3-DOF (Degrees Freedom). Additionally, an original methodology for controlled oscillatory compensations is designed implemented mitigate effect passive joint on overall performance this robot. The objective create oscillations that allow faulty link its (passive) physically align their adjacent previous link. techniques are sinh–cosh, neural compensation, gain scheduling PID, sinh–cosh. in which these compensation SCARA (Selective Compliant Assembly Robot Arm) To assess controller performance—once starts trajectory—after t = 4.5 s, fault activated No. 2, converting it into joint. indicators IA (index agreement), RMS (Root Mean Square), RSD (Residual Standard Deviation) used analyze, compare, evaluate behavior methodology.