ADAPTIVE CONTROL OF ROBOT MANIPULATORS - A BRIEF REVIEW OF RECENT ADVANCES

Abstract

Abstract. Currently, there is a rapid development of various industries using robotic manipulators. Robotic manipulators are controlled by programmable controllers. Most industrial controllers use a common control principle, namely, a linear proportional control algorithm for each link, where the spatial position of the working tool is corrected, and the position of the tool is a feedback signal. This method is suitable for low speeds and requires movement along a given trajectory in time. However, the development of modern robotic production requires more flexible, adaptive control of the production process in order to increase the speed of passing a given trajectory and set the trajectory without preliminary calculations for each individual link of the robot. A large amount of the research is currently devoted to the solution of this problem all over the world, but the solution is ambiguous and varies in relation to the control of specific processes. This review presents a brief description of the principles of adaptive control and discusses the results of recent research in this area in relation to the control of robotic manipulators. Recent advances in adaptive control systems for robotic arms in terms of their applications are reviewed with critical comments on related issues. It is expected that the wide dissemination of this review will stimulate closer collaboration between industry and the research community and encourage further developments.