Control of complex robotic systems: Challenges, design and experiments

摘要: Control of robotic systems is a thoroughly investigated subject in the literature, but still an open problem because highly nonlinear behaviour robots, complexity their dynamics, under-actuation, actuation redundancy, singularities, kinematic constraints, real-time constraints and more challenges issues. This paper dedicated to control systems. They are complex, motivating development new sophisticated schemes. The proposed schemes illustrated through different real experimental platforms four chosen research fields robotics: underactuated robotics, parallel humanoid robotics underwater robotics.