Design of a Two Stage GPI Controller with Fast Online Algebric Identification Method to a Two Link-SCARA Robot

Abstract

Selective Compliance Articulated Robotic Arm placed a vital role in research especially in the field of control tracking techniques. The main objective of the SCARA is to stabilize the positioned tracking and it is applicable to the system where it reduces Signal to Noise Ratio, perturbations and disturbances. Previous literature, authors proposed various controllers to stabilize the positioned tracking by neglecting restraints like gravitational effects and without knowing the mass at the tip including coulomb friction term in the motor dynamics. In the present paper, proposed the Generalized Proportional Integral (GPI) controller to determine the tracking position of the system by considering restraints.