Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Robot Motion Control

Living reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5102-9_168-1


The motion control problem for robots, both for manipulator arms and for wheeled mobile robots, is to determine a time sequence of control inputs to achieve a desired motion, or output, response. The control inputs are usually motor currents but can be translated into torques or velocities for the purpose of control design. The desired motion is typically given by a reference trajectory, consisting of positions and velocities that are generated from motion planning and trajectory generation algorithms designed to calculate collision-free paths, taking into account various kinematic and dynamic constraints on the robot. In this chapter we give an overview of some common control methods for motion control of robots, concentrating on the control of manipulator arms.


Tracking Error Adaptive Controller Reference Trajectory Task Space Feedback Linearization Control 
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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.Lars Magnus Ericsson Chair and Dean, Erik Jonsson School of Engineering and Computer ScienceThe University of Texas at DallasRichardsonUSA