Control Strategies for Robot Manipulators—A Review

摘要

AbstractIndustrial robots are multilink, highly nonlinear and coupled dynamic systems, where control is a difficult and challenging task. This paper presents a review of the basic problems involved and their existing control solutions. This review also attempts to give a broadbased classification of control strategies.Indexing terms: Robot manipulatorPosition controlOptimal controlDecentralized controlLinearizationAdaptive control