An Historical Perspective on the Control of Robotic Manipulators
Mark W. Spong
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.
Topics & Concepts
Control engineeringUnderactuationRobot manipulatorPerspective (graphical)RobotControl (management)Robot controlComputer scienceControl theory (sociology)Nonlinear systemAdaptive controlEngineeringArtificial intelligenceMobile robotPhysicsQuantum mechanicsTeleoperation and Haptic SystemsRobot Manipulation and LearningRobotic Mechanisms and Dynamics