Simulation and Control of SCARA Robot Using PD and Unconstraint Model Predictive Controllers

Feasible response speed, accuracy and robustness are the most important characteristics of robot manipulators, so different methods are implemented to obtain better response and actions. In this paper a SCARA robot manipulator is modeled and controlled by PD and model predictive controllers. Reference trajectory tracking is compared and more optimized performance of model predictive controller is proved and MIMO unconstraint dynamic matrix algorithm is applied for prediction. So in this study we are going to assay model predictive controller as a better controller for SCARA robot manipulators

Keywords:

Model Predictive Control (MPC) , SCARA robot , PD controller