Simulation study of advanced control strategies for Adept One SCARA robot

Variable structure control and adaptive control are two advanced control strategies for robot manipulator. However, the advantages and disadvantages of these two control strategies are not clear to engineers new in this field. This paper presents a comparative study of these two strategies on the Adept One SCARA robot. Four situations, namely the ideal situation, the situation where there is payload, the situation where there is joint friction and the situation where there is external disturbance are studied. Simulation studies reveal clearly the advantages and disadvantages of both schemes