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Annual Review of Control, Robotics, and Autonomous Systems

Volume 5, 2022

An Historical Perspective on the Control of Robotic Manipulators

Abstract

This article is an historical overview of control theory applied to robotic manipulators, with an emphasis on the early fundamental theoretical foundations of robot control. It discusses properties of robot dynamics that enable application of advanced control methods followed by robust and adaptive control of manipulators. It also discusses nonlinear control of underactuated robots and teleoperators.

Keyword(s): adaptive control, feedback linearization, learning, manipulators, passivity, robotics, robust control, teleoperation, underactuation
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2022-05-03
2024-06-18
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/content/journals/10.1146/annurev-control-042920-094829
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An Historical Perspective on the Control of Robotic Manipulators
Annual Review of Control, Robotics, and Autonomous Systems 5, 1 (2022); https://doi.org/10.1146/annurev-control-042920-094829
/content/journals/10.1146/annurev-control-042920-094829
/content/journals/10.1146/annurev-control-042920-094829
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