Efficiency comparative of linear controllers in positioning control of a robotic manipulator with two degrees of freedom

Abstract

Recent research on two-link, two-degree-of-freedom robotic manipulators has surged due to their simulation, modeling, and application advantages. Robotic manipulators with two degrees of freedom are one of the main mechanical systems where vibration and positioning control effects can be found, and for this purpose, devices are needed to establish control of the active set and study its behaviors. This paper explores control methodologies\textquotesingle{} application, mathematical modeling, and effective control for linear systems, highlighting successful implementations in robotic manipulators, the mathematical modeling of the system is developed to compare the performance of linear controls, considering the Linear Quadratic Controller (LQR), Feedforward Control (FFW) and Integrative Control (I) in relation to the ability to control position and vibration for predetermined task execution of a robot composed of two rigid links. The position is controlled by the electric current applied to the DC motor. The control acts on the motor current and, consequently, on the position of the motor shaft and link. Three control combinations are evaluated to enhance system complexity. The work emphasizes efficiency gains in industrial robotics, offering cost, time, and complexity reductions.