Modeling and control of a redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through homogeneous transformation matrices the inverse kinematic model of the redundant robot is obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm, which together with the learning and adaptive controllers, is applied to the model. A simulation environment is designed and implemented using MatLab/Simulink programming tools that include the actuator dynamics. This simulation environment is used to carry out different tests of the redundant manipulator model together with each controller as they are made to follow a trajectory in space. The results, obtained through a simulation environment, were represented by comparative curves and RMS indices of the joint and Cartesian errors, and they showed that the redundant manipulator model followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.