Comparison of control methods for industrial robotic manipulators

In this thesis, it is inclueded that researches types, usage areas and control of robotic manipulators are examined and which control methods are used and also what its aim for control of manipulators. The methods which is used until now and also their hybrid types are examined and the performances of manipulators are shown, especially in vibration suppression and trajectory tracking. Some traditional methods are used with other methods because of their specific features and using at least two methods together like that is called hybrid method. Hybrid methods are especially used for increase trajectory tracking performance and reduce errors to zero. Hybrid methods of three traditional methods, which are sliding mode control, fractional order control and robust control methods, are examined in detail and their performances are compared with simulations results. In conclusion, review with comprehensive research bibliography shows the success of the methods which applied for manipulators control. In addition, comparing three methods which examined in detail, shows the pros and cons of the desired purposes in manipulator control.