Nonadaptive dynamic control for manipulation robots: Centralized or decentralized control

摘要

Abstract Different concepts for dynamic control of manipulation robots are presented. Principles for the synthesis of optimal control, optimal regulator, “inverse problem” technique, force feedback, decoupled control, and decentralized control are considered. An attempt is made to provide a comparative analysis of all the stated control algorithms and to point out the advantage of decentralized control concept.