Abstract

This study presents a fault-tolerant control system for Selective Compliance Assembly Robot Arm (SCARA) robots, ensuring operational continuity in cooperative tasks. It is evaluated in five scenarios: normal operation, failures without reconfiguration, and with active reconfiguration. The system employs redundant actuators, differential gears, torque limiters, and rapid detection and reconfiguration algorithms. Simulations in MATLAB R2024a demonstrated reconfiguration times of 0.5 s and reduced trajectory errors (0.0042 m on the X-axis for Robot 1), achieving efficiency above 99%. Nonlinear Model Predictive Controllers (NLMPCs) and Adaptive Sliding Mode Control (ASMC) were compared, with NLMPC excelling in stability and ASMC in precision. The system showcased high productivity in pick-and-place tasks, even under critical failures, establishing itself as a robust solution for industrial environments requiring high reliability and advanced automation.