Abstract
The motion control problem for robot manipulators is to determine a time sequence of control inputs to achieve a desired motion. The control inputs are usually motor voltages or currents but can be translated into velocities or torques for the purpose of control design. The desired motion is typically given by a reference trajectory, consisting of positions, velocities, and accelerations that are generated from motion planning and trajectory generation algorithms designed to calculate collision-free paths, taking into account various kinematic and dynamic constraints on the robot. In this chapter we give an overview of some basic and advanced control methods for motion control of robot manipulators.
This is a preview of subscription content, log in via an institution to check access.
Bibliography
Abdallah C, Dawson DM, Dorato P, Jamshidi M (1991) A survey of robust control of rigid robots. IEEE Control Syst Mag 11(2):24–30
Canudas de Wit C et al (1996) Theory of robot control. Springer, Berlin
Horowitz R, Tomizuka M (1986) An adaptive control scheme for mechanical manipulators – compensation of nonlinearities and decoupling control. Trans ASME J Dyn Syst Meas Control 108:127–135
Hunt LR, Su R, Meyer G (1983) Design for multi-input nonlinear systems. In: Brockett RW et al (eds) Differential geometric control theory. Birkhauser, Boston/Basel/Stuttgart, pp 268–298
Lavelle SM (2006) Planning algorithms. Cambridge University Press, Cambridge
Markiewicz BR (1973) Analysis of the computed torque drive method and comparison with conventional position servo for a computer-controlled manipulator. NASA-JPL Technical Memo, pp 33–61
Ortega R, Spong MW (1989) Adaptive motion control of rigid robots: a tutorial. Automatica 25(6):877–888
Siciliano B, Sciavicco L, Villani L, Oriolo G (2010) Robotics: modeling, planning, and control. Springer, London
Slotine J-JE, Li W (1987) On the adaptive control of robot manipulators. Int J Robot Res 6(3):147–157
Spong MW (1987) Modeling and control of elastic joint robots. Trans ASME J Dyn Syst Meas Control 109:310–319
Spong MW (1992) On the robust control of robot manipulators. IEEE Trans Autom Control AC-37(11): 1782–1786
Spong MW, Vidyasagar M (1987) Robust linear compensator design for nonlinear robotic control. IEEE J Robot Autom RA 3(4): 345–350
Spong MW, Ortega R, Kelly R (1990) Comments on ‘adaptive manipulator control: a case study’. IEEE Trans Autom Control 35:761–762
Spong MW, Lewis FL, Abdallah CT (1992) Robot control: dynamics, motion planning, and analysis. IEEE, New York
Spong MW, Hutchinson S, Vidyasagar M (2006) Robot modeling and control. Wiley, New York
Tarn TJ, Bejczy AK, Isidori A, Chen Y (1984) Nonlinear feedback in robot arm control. In: Proceedings of the IEEE conference on decision and control, Las Vegas, pp 736–751
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Section Editor information
Rights and permissions
Copyright information
© 2020 Springer-Verlag London Ltd., part of Springer Nature
About this entry
Cite this entry
Spong, M.W. (2020). Robot Motion Control. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_168-2
Download citation
DOI: https://doi.org/10.1007/978-1-4471-5102-9_168-2
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-5102-9
Online ISBN: 978-1-4471-5102-9
eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering
Publish with us
Chapter history
-
Latest
Robot Motion Control- Published:
- 21 January 2020
DOI: https://doi.org/10.1007/978-1-4471-5102-9_168-2
-
Original
Robot Motion Control- Published:
- 12 February 2014
DOI: https://doi.org/10.1007/978-1-4471-5102-9_168-1