A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators

Bin Wei

doi:10.3390/inventions4030049

Abstract

A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust control, adaptive control and robust adaptive control are demonstrated. Basic information on the joint space control, operational space control and force control is also given. This tutorial summarizes the most advanced control techniques currently in use in a very simple manner, and applies to robotic manipulators, which can provide an informative guideline for students who have little knowledge of controls or who want to understand the adaptive control of robotics in a systematic way.

Highlights

Robotics have been widely utilized in many areas, such as manufacturing, service, medical, space, underwater, the military, etc
The purpose of kinematic modelling is to determine where the joint should be positioned in order to achieve a desired trajectory; through dynamic modelling, one knows how much torque is necessary in each joint in order to have the corresponding joint position
We demonstrated robust control, adaptive control, robust adaptive control and adaptive control of robotics, and showed that PD control mimics a spring-damper system, in which it can globally tend to the stability point

Summary

Introduction

Robotics have been widely utilized in many areas, such as manufacturing, service, medical, space, underwater, the military, etc. In order to study the control problem, one needs to have a dynamic model; in order to have a dynamic model, one must first deal with the basic kinematics. The purpose of kinematic modelling is to determine where the joint should be positioned in order to achieve a desired trajectory; through dynamic modelling, one knows how much torque is necessary in each joint in order to have the corresponding joint position. The purpose of dynamic modelling is to determined how much torque one needs to apply to each joint so that a desired trajectory can be achieved.

Joint Space Control and Operational Space Control

Adaptive

Robust Adaptive Control

Adaptive Control

Conclusions