000161997 001__ 161997 000161997 005__ 20251017144612.0 000161997 0247_ $$2doi$$a10.3390/engproc2024077018 000161997 0248_ $$2sideral$$a144680 000161997 037__ $$aART-2024-144680 000161997 041__ $$aeng 000161997 100__ $$aRobles, David 000161997 245__ $$aDevelopment and evaluation of proportional-derivative, proportional-derivative with friction compensation, inverse-dynamics, and sliding-mode control strategies for trajectory-tracking in robotic manipulators 000161997 260__ $$c2024 000161997 5060_ $$aAccess copy available to the general public$$fUnrestricted 000161997 5203_ $$aIn this paper, four control strategies are developed and evaluated for the trajectory-tracking of a two-degree-of-freedom SCARA-type robotic manipulator: (i) a proportional-derivative controller (PD), (ii) a proportional-derivative controller with friction compensation (PD + G), (iii) an inverse-dynamics controller and (iv) a sliding-mode controller with a dynamic model (SMCD). These controllers are implemented in a dynamic model of a manipulator robot, and their performance is assessed based on trajectory-tracking accuracy and robustness against disturbances. Robustness tests are conducted by varying the parameters of the dynamic model of the robot. The performance of each controller is analyzed using the Integral Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) indexes to compare their effectiveness. This study offers a comprehensive evaluation of each control strategy, demonstrating that the SMCD achieves the optimal balance between accuracy and disturbance robustness. 000161997 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es 000161997 592__ $$a0.205$$b2024 000161997 593__ $$aIndustrial and Manufacturing Engineering$$c2024$$dQ3 000161997 593__ $$aMechanical Engineering$$c2024$$dQ4 000161997 593__ $$aBiomedical Engineering$$c2024$$dQ4 000161997 593__ $$aElectrical and Electronic Engineering$$c2024$$dQ4 000161997 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000161997 700__ $$aMedrano, Ney 000161997 700__ $$aChicay, Yuliana 000161997 700__ $$aPilatasig, Marjorie 000161997 700__ $$0(orcid)0000-0002-0679-6340$$aAndaluz, Gabriela M.$$uUniversidad de Zaragoza 000161997 700__ $$aLeica, Paulo 000161997 7102_ $$14000$$2415$$aUniversidad de Zaragoza$$bDpto. Análisis Económico$$cÁrea Fund. Análisis Económico 000161997 773__ $$g77, 18 (2024), 9$$pEng. proc. (Basel)$$tEngineering proceedings (Basel)$$x2673-4591 000161997 8564_ $$s1917887$$uhttps://zaguan.unizar.es/record/161997/files/texto_completo.pdf$$yVersión publicada 000161997 8564_ $$s2731903$$uhttps://zaguan.unizar.es/record/161997/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000161997 909CO $$ooai:zaguan.unizar.es:161997$$particulos$$pdriver 000161997 951__ $$a2025-10-17-14:17:54 000161997 980__ $$aARTICLE