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A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Published online by Cambridge University Press:  05 May 2020

Esmail Ali Alandoli Open the ORCID record for Esmail Ali Alandoli [Opens in a new window]  and
T. S. Lee
Esmail Ali Alandoli*
Affiliation:
Faculty of Engineering and Technology, Multimedia University (MMU), 75450Melaka, Malaysia E-mail: tslee@mmu.edu.my
T. S. Lee
Affiliation:
Faculty of Engineering and Technology, Multimedia University (MMU), 75450Melaka, Malaysia E-mail: tslee@mmu.edu.my
*
*Corresponding author. E-mail: alandolie@yahoo.com
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Summary

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There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

Keywords

Control techniquesFlexible link manipulatorsRigid link manipulators
Type
Articles
Information
Robotica , Volume 38 , Issue 12 , December 2020 , pp. 2239 - 2265
Copyright
Copyright © The Author(s) 2020. Published by Cambridge University Press

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