Title :
Recent developments and futuristic trends in robot manipulator control
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
There are many control strategies that can be applied to motion control of robot manipulators. Although the majority of these control strategies have been covered in the literature, the merits and limitations of these methods are still not very clear to engineers who are new in this field. This paper reviews the recent developments of strategies for motion control of robot manipulators and highlights the advantages and disadvantages of the various control strategies. Further, it analyses the future trends for robot manipulator control
Keywords :
adaptive control; fuzzy control; neural nets; nonlinear control systems; path planning; position control; robots; technological forecasting; variable structure systems; adaptive control; computed torque methods; control strategies; fuzzy control; manipulator; minimum time control; motion control; neural network based control; nonlinear decoupled feedback control; resolved motion control; robot; variable structure control; Control systems; Erbium; Manipulators; Motion analysis; Motion control; Open loop systems; Optimal control; Robot control; Torque control; Variable structure systems;
Conference_Titel :
Motion Control Proceedings, 1993., Asia-Pacific Workshop on Advances in
Print_ISBN :
0-7803-1223-6
DOI :
10.1109/APWAM.1993.316198
