ABSTRACT
Dynamic control of robot manipulators is continuously receiving increased attention. This chapter presents a comprehensive survey of the field of adaptive, robust, and fuzzy control of industrial robots. It begins with some issues of robot dynamic modeling and techniques for estimating dynamic robot parameters. The chapter describes the three principal methodologies of adaptive robot control: model reference adaptive control (MRAC), the self-tuning control, and the model-based predictive control. It is devoted to robust robot control and includes four techniques. These techniques are the variable structure control technique, the combined computed-torque and MRAC technique, the robust control technique, which is based on parameter adaptation, and the MRAC robust technique, which does not include nonlinear feedback. The chapter also describes the fuzzy rule-based control approach and includes some fundamental concepts of fuzzy systems, the basic results of fuzzy control loops, and some more sophisticated results.
