Wireless-communicated computed-torque control of a SCARA robot and two-dimensional input shaping for a spherical pendulum

This paper presents wireless communicated real-time implementation of computed-torque control for a two-link SCARA robot and experimental works for two-dimensional input shaping control of a spherical pendulum. For comparison purpose, computed-torque control and individual joint control with proportional-plus-derivative logic are implemented for the tracking control of the SCARA robot. Moreover, wireless motion command transfer from a host PC (notebook PC) to the robot controller is implemented for user convenience. Second part of the paper presents experimental works for two-dimensional input shaping and tracking control of a spherical pendulum mounted at the end-effector of the SCARA robot. The logic of two dimensional input shaping is demonstrated through simulation and experimental works.