Design and control of a two-link robotic manipulator: A review

Ranjan Kumar, Kaushik Kumar
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引用次数: 1

Abstract

The continuous research and developments in the field of robotics have realized some important aspects of human behavior that has been incorporated into the mechanical systems. Similar to the human a robotic system can also handle the things skillfully with or without the knowledge of the model using the different intelligent control techniques. The present paper is a review work based on literatures of the controldesign techniques for theTwo-link robotic manipulator according to the control requirement. Thedifferent control techniques like PID control, Fuzzy logic control (FLC) and Artificial neural network (ANN) control with optimization of their optimal parameters using GA techniques has been considered and also the advantages and disadvantages of each control scheme over the conventional PID controller has been discussed. One of the main objectives of this present work is to provide the readers with the insights of the advancements and continuous developments in the field of robotic control and possess the wide range of application areas that has been taken place in the last few decades. Despite the fact that the traditional PID controller is used extensively in industries and automation due to its easy controldesign and low cost but it is associated with some major shortcomings such as uncertainties, non-linearity, varying payload and varying parameters of the robot manipulator do not make it a robust controller. Therefore, for the performance enhancements and accuracy of the controller the researchers have been mostly inclined towards the using of soft computing techniques which mainly comprises the model-free control technique over the conventional model-based PID control.
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双连杆机械臂的设计与控制综述
机器人领域的不断研究和发展已经实现了人类行为的一些重要方面,这些方面已被纳入机械系统。与人类类似,机器人系统也可以使用不同的智能控制技术,在有或没有模型知识的情况下熟练地处理事物。本文根据控制要求,在查阅国内外文献的基础上,对双连杆机器人的控制设计技术进行了综述。不同的控制技术,如PID控制,模糊逻辑控制(FLC)和人工神经网络(ANN)控制与最优参数的优化利用遗传算法的技术进行了考虑,并讨论了各种控制方案的优点和缺点比传统的PID控制器。本工作的主要目标之一是为读者提供机器人控制领域的进步和持续发展的见解,并拥有在过去几十年中已经发生的广泛应用领域。传统的PID控制器以其控制设计简单、成本低等优点在工业和自动化领域得到了广泛的应用,但其存在不确定性、非线性、机械臂的载荷和参数变化等主要缺点,使其不能成为一种鲁棒控制器。因此,为了提高控制器的性能和精度,研究人员大多倾向于使用软计算技术,主要包括无模型控制技术,而不是传统的基于模型的PID控制。
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