Description:
In this paper modeling of a redundant SCARA-type five degrees of freedom robotic manipulator is presented. Three controllers are developed: hyperbolic sine and hyperbolic cosine, sliding mode and calculated torque which are applied to the model considered. We performed a simulation environment, by employing MatLab/Simulink programming tools, which is used to perform various tests on the model of redundant manipulator with each controller, including the dynamics of the actuators, when subjected to follow a desired trajectory in space. The results are obtained by means of comparative curves and rms index of joint and Cartesian errors.