Control strategies for robotic manipulators

Khan, Muhammad Saeed; Islam, Raza Ul; Iqbal, Jamshed

doi:10.1109/icrai.2012.6413422

Cited by 39 publications

(23 citation statements)

References 24 publications

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“…Application of Differential algebra and multivariable calculus for understanding, formulation and conceptual solutions to the problems in automatic control resulted in various nonlinear control strategies. Detailed reviews of these strategies are reported in [5,40].…”

Section: Mathematical Viewpointmentioning

confidence: 99%

Nonlinear control systems - A brief overview of historical and recent advances

Iqbal

Ullah²,

Khan

et al. 2017

Nonlinear Engineering

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Last five decades witnessed remarkable developments in linear control systems and thus problems in this subject has been largely resolved. The scope of the present paper is beyond linear solutions. Modern technology demands sophisticated control laws to meet stringent design specifications thus highlighting the increasingly conspicuous position of nonlinear control systems, which is the topic of this paper. Historical role of analytical concepts in analysis and design of nonlinear control systems is briefly outlined. Recent advancements in these systems from applications perspective are examined with critical comments on associated challenges. It is anticipated that wider dissemination of this comprehensive review will stimulate more collaborations among the research community and contribute to further developments.

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Section: Mathematical Viewpointmentioning

confidence: 99%

Nonlinear control systems - A brief overview of historical and recent advances

Iqbal

Ullah²,

Khan

et al. 2017

Nonlinear Engineering

Self Cite

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“…There are basically two philosophies for controlling a robotic manipulator with nonlinear and uncertain behaviors (Khan et al (2012)), i.e., adaptive control (Berghuis et al (1993), Ortega and Spong (1989), Slotine and Li (1989)) and robust control. To achieve the best performance, the former tries to identify the uncertain parameters of the system while the latter possesses fixed structure which is insensitive to the parameter variation.…”

Section: Introductionmentioning

confidence: 99%

A Novel Finite Time Sliding Mode Control for Robotic Manipulators

Zhao

Sheng

Liu

2014

IFAC Proceedings Volumes

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“…Literature reports various modern control strategies including Computed Torque Control (CTC), Sliding Mode Control (SMC), Disturbance Observer Based Control (DOBC), Model Predictive Control (MPC), Linear Quadratic Regulator (LQR), H ∞ control and Passivity Based Control (PBC). The detail of most common control techniques is reported in [51].…”

Section: Control Of Industrial Manipulatorsmentioning

confidence: 99%

“…Successful implementation of robotics in the mentioned applications is obviously a function of proper control law [50,51]. The primary objective of control for continuous process variables is to apply a measured corrective action to compensate for variations from the reference level.…”

Section: Control Of Industrial Manipulatorsmentioning

confidence: 99%

Automating industrial tasks through mechatronic systems – a review of robotics in industrial perspective

et al. 2016

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Subject reviewPressing requirements of improved and enhanced productivity in industrial applications has necessitated deployment of robot to automate tasks. Manipulator based articulated robots for today's industrial applications vary widely in terms of number of Degree Of Freedom (DOF), payload capacity, Range Of Motion (ROM), control implementation and mountable configurations. This paper presents a comprehensive and systematic review of industrial robots with a focus on their application areas. The study of manipulators for diversified applications has highlighted the need of sophisticated algorithms for their control and trajectory planning. Both of these key concepts are discussed in the paper. The control of industrial manipulator is important for accomplishing tasks requiring high precision, repeatability and reliability by mitigating the effects of disturbances. The trajectory planning is vital for time optimization, energy optimization and collision avoidance to ensure most appropriate trajectory for a given task in an environment. The application oriented review offers readers opportunities to generate ideas applicable to their operations and to conform feasibility of their ideas. Keywords: industrial automation; robot control; robotic manipulators; trajectory planning Automatzacija industrijskih poslova kroz mehatroničke sustave -pregled robotike iz industrijske perspektivePregledni članak Sve veći zahtjevi za poboljšanom i povećanom produktivnošću u industriji doveli su do potrebe razvoja robota u automatizaciji poslova. Zglobno vezani roboti bazirani na manipulatoru za sadašnje industrijske aplikacije uvelike variraju u odnosu na broj stupnja slobode -Degree Of Freedom (DOF), kapacitet nosivosti, raspon pokreta -Range Of Motion (ROM), provođenje kontrole i ugradnju konfiguracija. U radu se daje opsežan i sustavan pregled industrijskih robota s naglaskom na njihova područja primjene. Analiza manipulatora za različite primjene istaknula je potrebu za složenim algoritmima za njihovo upravljanje i planiranje putanje. O ovim se ključnim pitanjima raspravlja u radu. Kontrola industrijskog manipulatora je važna za obavljanje zadataka za koje je potrebna velika preciznost, ponavljanje i pouzdanost uz izbjegavanje smetnji. Planiranje putanje je od bitne važnosti za optimizaciju vremena, optimizaciju energije i izbjegavanje sudara kako bi se osigurala najprihvatljivija putanja za određeni zadatak u nekom okruženju. Pregled literature usmjeren na primjenu pruža čitateljima mogućnost da razviju ideje koje se mogu primijeniti na njihove poslove i razmisle o izvedivosti svojih ideja.

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Control strategies for robotic manipulators

Cited by 39 publications

References 24 publications

Nonlinear control systems - A brief overview of historical and recent advances

Nonlinear control systems - A brief overview of historical and recent advances

A Novel Finite Time Sliding Mode Control for Robotic Manipulators

Automating industrial tasks through mechatronic systems – a review of robotics in industrial perspective

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