Conventional controller design for industrial robots — A tutorial

Constraints for joint angle control of the human arm

“…Highly developed examples are robot manipulators (see Luh 1983, for a summary) and the human arm. In the first case it is interesting to develop laws for the control of the movement of the manipulator.…”

Implementação Em Hardware De Um Controlador Neural Para Robô

“…Na tentativa de superar estas dificuldades, vários algoritmos de controle usando as características dinâmicas do robô manipulador têm sido propostos [1], [4], [5], [6], [9].…”

Fuzzy Optimal Control for Robot Manipulators

“…Therefore, trajectory tracking problem is the most significant and fundamental task in control of robotic manipulators. Motivated by requirements such as a high degree of automation and fast speed operation from industry, in the past decades, various control methods are introduced in the publications such as proportional, integration, derivative (PID) control (Luh 1983), feed-forward compensation control (Khosla and Kanade 1988), adaptive control (Slotine and Li 1988), variable structure control (Slotine et al 1983), neural networks control (Purwar et al 2005), fuzzy control (Chen et al 1998) and so on.…”

“…As a predominant method in industrial robotic manipulators, traditional PID control has simple structure and convenient implementation (Luh 1983). However, some strong assumptions are required to be made, which involve that each joint of robotic manipulators is decoupled from others and the system has to be in the status of slow motion.…”

“…The latest survey on FC for robotic manipulators can be found in (Purwar et al 2005) and references cited therein. Sun (Luh 1983) combined FC and variable structure control to construct a controller, where FS was greatly simplified by using system representative point and its derivative as inputs. Control laws designed by Hsu (Sun et al 1999) consisted of a regular fuzzy controller and a supervisory control term, which ensured stability of closed-loop systems.…”