Robot manipulator
Related papers: 20
About
A robot manipulator is a programmable mechanical arm, typically composed of rigid links connected by rotational or translational joints, designed to position and orient an end-effector to perform physical tasks such as grasping, welding, assembly, or machining. Modeled mathematically through kinematics (describing position and motion) and dynamics (describing forces and torques), manipulators range from simple serial-chain configurations to more complex parallel or redundant structures like the Stewart platform. In robotics and AI, they serve as the primary means by which systems interact with and modify the physical world, making them central to industrial automation, surgical robotics, and emerging aerial manipulation platforms. Control strategies—including adaptive control, sliding mode control, neural network-based approaches, and disturbance observers—are applied to handle nonlinearities, parameter uncertainties, and external disturbances inherent in real-world operation. Robot manipulators matter because advances in their modeling, control, and actuation directly determine the precision, safety, and versatility of robotic systems across manufacturing, healthcare, and service industries.
Top Researchers
Top Cited Papers
Introduction to Robotics mechanics and Control
John Craig
Citations: 5039 • 1986
Robot Manipulators: Mathematics, Programming, and Control
Richard P. Paul
Citations: 2813 • 1981
Continuous finite-time control for robotic manipulators with terminal sliding mode
Shuanghe Yu, Xinghuo Yu, Bijan Shirinzadeh, Zhihong Man
Citations: 2605 • 2005
On the Adaptive Control of Robot Manipulators
Jean-Jacques Slotine, Weiping Li
Citations: 2258 • 1987
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
Lung‐Wen Tsai
Citations: 1851 • 1999
Neural Network Control Of Robot Manipulators And Non-Linear Systems
Frank L. Lewis, Suresh Jagannathan, A Yesildirak
Citations: 1851 • 2020
A nonlinear disturbance observer for robotic manipulators
Wen‐Hua Chen, D.J. Ballance, P.J. Gawthrop, J. O’Reilly
Citations: 1710 • 2000
Variable structure control of nonlinear systems: a new approach
Wei-Bing Gao, J. C. Hung
Citations: 1282 • 1993
Control of Robot Manipulators
Frank L. Lewis, D.M. Dawson, Chaouki T. Abdallah
Citations: 1259 • 1993
Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints
Wei He, Yuhao Chen, Zhao Yin
Citations: 1257 • 2015
Adaptive motion control of rigid robots: A tutorial
Roméo Ortega, Mark W. Spong
Citations: 1224 • 1989
Modelling and Control of Robot Manipulators
L. Sciavicco, Bruno Siciliano
Citations: 1036 • 2000
Adaptive manipulator control: A case study
J.-J.E. Slotine, Weiping Li
Citations: 1027 • 1988
Task-Priority Based Redundancy Control of Robot Manipulators
Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa
Citations: 1002 • 1987
Modeling and Control of Robot Manipulators
Citations: 994 • 2000
A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
Andrew P. Papliński, Hong Ren Wu
Citations: 966 • 1994
Robot Manipulator Control: Theory and Practice
Frank L. Lewis, D.M. Dawson, Chaouki T. Abdallah
Citations: 899 • 2003
The Stewart platform manipulator: a review
Bhaskar Dasgupta, T.S. Mruthyunjaya
Citations: 699 • 2000
Control of Robot Manipulators in Joint Space
Rafael Kelly
Citations: 671 • 2005
Analysis and Control of Robot Manipulators with Redundancy
Tetsuro Yoshikawa
Citations: 631 • 1983