This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of th...

This paper presents a robust control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. The design of the controller is based on the Lyapunov function and the control law that is designed to compensate the uncertainties arising from unknown robot parameters and unknown payload. Major simulations results using numerical values of an industrial SCARA robo...

A complete mathematical model of SCARA robot (Serpent 1) is developed including servo actuator dynamics and presented together with dynamic simulation in this paper. The equations of motion are derived by using Lagrangian mechanics. Dc servo motors driving each robot joint is studied with PD controller action. Serpent 1 robot is instructed to achieve pick and place operations of three different...

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inp...

Predictive maintenance of industrial machines is one the challenging applications in Industry 4.0. This paper presents a comprehensive methodology to identify robot arm (SCARA) movement patterns detect mechanical aging robot, which determined by abnormal arm. The dataset used two movements that go from point A B and then back A. Accelerometer data measure signal SCARA actions, mainly focus on n...

This paper describes the design of a Neural Internal Model Control (NIMC) system for robots, based on Recurrent Hybrid Networks (RHNs). The NIMC, an alternative to the basic inverse control scheme, consists of a forward internal neural model of robot, a neural controller and a conventional feedback controller. An Alopex Learning Algorithm (ALA) was used to adjust weights of the proposed neural ...

Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed on...

The paper describes the development of a micro-parallel-SCARA robot adapted in size to MEMS products. The degree of miniaturization is optimized concerning a smaller structure but high accuracy in a workspace dimensioned to chip card size. The robot supports the mostly used four degrees of freedom with a base area of less than 150 x 150 mm2. It is the result of a cooperative project between the...