Basic Concepts of Manipulator Robot Control

Robots presently occupy a large place in diverse activities. The robots currently in service are manipulator-type robots. They are often used in modern manufacturing processes to increase the production volume as well as to improve the quality of the product. This type of robot consists of a base, a carrier composed of segments, mobile joints expressed in the degree of freedom (rotoid and prismatic), actuator, sensor, and terminal organ. It is known that these systems have defects, such as insufficient accuracy, very slow reaction time, and instability. Furthermore, to adjust them, control systems are used: classic, dynamic, and adaptive. These commands need geometric, kinematic, and dynamic modeling of the studied systems. Most often, non-linear systems are transformed into linear systems using linearization methods. This chapter presents a short overview of robot manipulator control.