Design and control of a two-link robotic manipulator: A review

Abstract

The continuous research and developments in the field of robotics have realized some important aspects of human behavior that has been incorporated into the mechanical systems. Similar to the human a robotic system can also handle the things skillfully with or without the knowledge of the model using the different intelligent control techniques. The present paper is a review work based on literatures of the controldesign techniques for theTwo-link robotic manipulator according to the control requirement. Thedifferent control techniques like PID control, Fuzzy logic control (FLC) and Artificial neural network (ANN) control with optimization of their optimal parameters using GA techniques has been considered and also the advantages and disadvantages of each control scheme over the conventional PID controller has been discussed. One of the main objectives of this present work is to provide the readers with the insights of the advancements and continuous developments in the field of robotic control and possess the wide range of application areas that has been taken place in the last few decades. Despite the fact that the traditional PID controller is used extensively in industries and automation due to its easy controldesign and low cost but it is associated with some major shortcomings such as uncertainties, non-linearity, varying payload and varying parameters of the robot manipulator do not make it a robust controller. Therefore, for the performance enhancements and accuracy of the controller the researchers have been mostly inclined towards the using of soft computing techniques which mainly comprises the model-free control technique over the conventional model-based PID control.