Application of Time Delay Control to a Two Degree of Freedom SCARA Manipulator

When developing a controller for a system, it is often impossible to know or model all the dynamics or to predict future changes and disturbances. Due to this limitation, present systems are often limited to operating in small linear regions and in steady environments. Recently, however, Time Delay Control has been proposed as an alternative to standard methods. This paper first reviews the concepts of Time Delay Control presents several simulations of a two degree of freedom SCARA Manipulator. The manipulator´s effects include actuator and sensor parasitic dynamics, payload changes, friction, quantization effects, D/A converter saturation, velocity sensor noise, torque saturation, and a notch filter. The Time Delay Controller is effectively used on this simulated system with good results.