Comparative Study of D.D. Robot Control Algorithms for Trajectory Tracking

Abstract This paper is a comparative study of D.D. robot control algorithms for the purpose of trajectory tracking. In order to achieve real time control, we propose a Transputer- based robot controller with parallel processing to meet the massive computational requirements of advanced robot control algorithms. They are feedforward control, computed torque control, sliding mode control and adaptive control. Based on detailed theoretical analysis and experimental research, some important conclusions are reached.