# Design, Simulation, and Comparison of Advanced Control Strategies for a 3-Degree-of-Freedom Robot
## 6 Discussion
#### Practical Applications
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Controller** & **Weaknesses** & **Strengths** & **Complementary Characteristics** \\ \hline \multirow{2}{*}{\begin{tabular}{c} Computed Torque \\ PD \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} Requires the dynamic model \\ of the robot. \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} Simple, provides precision \\ and smoothness in movement. \\ \end{tabular} } & \multicolumn{2}{c}{\begin{tabular}{c} Robust in selected trajectories. \\ Low computational cost. \\ Negligible processing/execution time. \\ \end{tabular} } \\ \hline \multirow{2}{*}{\begin{tabular}{c} PD-PI Fuzzy \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} Needs additional \\ classical control. \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} Does not require a \\ dynamic model. \\ Provides smoothness. \\ \end{tabular} } & \multicolumn{2}{c}{\begin{tabular}{c} Acceptable in trajectories. \\ Low computational cost. \\ Significant processing/execution time. \\ \end{tabular} } \\ \hline \multirow{2}{*}{\begin{tabular}{c} MPC \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} Requires the dynamic model \\ of the robot. \\ \end{tabular} } & \multirow{2}{*}{\
\begin{tabular}{c} Predicts future values. \\ Acceptable movement. \\ \end{tabular} } & \multicolumn{2}{c}{
\begin{tabular}{c} Acceptable in trajectories. \\ Low computational cost. \\ Minimal processing/execution time. \\ \end{tabular} } \\ \hline \hline \end{tabular}
\end{table} 
Table 14: Weaknesses, strengths, and complementary characteristics of the controllers. method, the kinematic model of the arm structure was established, combined with MATLAB's kinematic model. An experiment was conducted to simulate the spatial position of the drilling arm's end of the robot and anchor drilling. The research shows that the robot can quickly replace the anchor drilling arm and ensure the quality of the integral anchor drilling, thus meeting the requirements for comprehensive support. In [38], it is indicated that the shortage of human labor is increasing; therefore, it is expected that more machinery and agricultural equipment will enter the sector. One of the agricultural machinery widely studied today involves robotic arms. The ideal structure of the robotic arm with optimal length is gaining popularity and is used in many sectors, such as manufacturing and agriculture. In their study, the authors use the direct kinematic modeling method to design a robotic arm with 4 degrees of freedom optimized to achieve a specific coordinate in a dynamic environment that mimics a boom arm installed on a tractor. Through simulation, they apply optimization algorithms to compare the performance of the Artificial Bee Colony optimization algorithm and the Particle Swarm Optimization (PSO) algorithm, which can achieve optimal length with minimal errors. Their results indicate that the best algorithm, namely the PSO algorithm, is evaluated by calculating the Mean Squared Error (MSE) of 0.00108527, the Root Mean Square Error (RMSE) of 0.01678, the Mean Absolute Error (MAE) of 0.004286081, and the end effector position error (error of 0.080557045), where the best algorithm has the lowest error value. In [31], they present a vision system suitable for the automatic recognition of rolls of coils in automatic packaging machines, a task often performed by human operators. The authors propose employing a robotic system equipped with a 2D vision sensor and an external unit that allows for the calculation of mathematical algorithms and the standard image processing with low computational resource consumption. Additionally, they aim to relieve operators from this exhausting work while maintaining a high productivity rate. Moreover, they indicate that the procedure presented in this document for the robust detection of coil cores using a vision system can be useful in any industrial process where coils are used and hardware resources are limited.