Abstract

In this paper an efficient controller is presented for controlling SCARA robot in present of undesirable noises in variable states. To do so, feedback linearization is considered as the main controller and kalman filter estimator is utilized to estimate the state variables from the noisy output signals. In order to evaluate the performance of the purposed method, a simulation test is performed to apply this controller on the SCARA robot. The simulation is done for both noisy and not noisy signals. The results show that the kalman filter observer has accomplished a good state estimation and feedback lineation controller has tracked the desired signals perfectly as well.

Keywords: SCARA robot stochastic; Kalman filter; LQE; Disturbance