Design of a fuzzy-sliding mode controller for a SCARA robot to reduce chattering

Go, Seok Jo; Lee, Min Cheol

doi:10.1007/bf03185217

Cited by 6 publications

(1 citation statement)

References 8 publications

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“…presents dynamic model and position control of a SCARA robot type 3D printer system (Ogulmuş, Çakan, & Tınkır, 2016). Other studies on modeling and control of SCARA robot manipulators are also analyzed (Bruzzone & Bozzini, 2011;Go & Lee, 2001;Surapong & Mitsantisuk, 2016;Urrea, Cortés, & Pascal, 2016;Urrea & Kern, 2012;Wang, Liu, Wei, Xu, & Zhang, 2014).…”

Section: Introductionmentioning

confidence: 99%

The Bees Algorithm Approach to Determining SMC Controller Parameters for the Position Control of a SCARA Robot Manipulator

Ilgen¹,

Durdu²,

Gülbahçe³

et al. 2022

European Journal of Science and Technology

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In this study, position control of a SCARA robot manipulator is investigated using the sliding mode control (SMC) method based on parameter optimization using The Bees Algorithm. The modeling the SCARA manipulator is conducted in MSC Adams and the control implementation is carried out in MATLAB software. The numerical model of the SCARA manipulator is acquired by setting up a virtual prototype on MSC Adams software. In addition, the inverse kinematic equations of the SCARA manipulator are formed using Matlab/Simulink software in order to check the accuracy of the created virtual prototype. In addition, the SMC controller parameters are optimized with The Bees Algorithm to get better results. Then, the control performance of the system is examined on the virtual prototype using MSC Adams-MATLAB co-simulation. Moreover, Genetic Algorithm, another meta-heuristic method, is used for parameter optimization and the performance of The Bees Algorithm is compared with the results obtained. As a result, it has been observed that The Bees Algorithm can be used in studies related to the control of robotic systems.

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