Classification of robot arm control

1) According to the presence or absence of feedback: open loop control, closed loop control

Open-loop precise control conditions: Know the model of the controlled object accurately, and this model remains unchanged during the control process.

2) According to the expected control amount, it is divided into three types: force control, position control and hybrid control.

Position control is divided into: single joint position control (position feedback, position speed feedback, position speed acceleration feedback), multi-joint position control.

Multi-joint position control is divided into decomposition motion control, centralized control force control is divided into: direct force control, impedance control, force level hybrid control.

3) Intelligent control method

Fuzzy control, adaptive control, optimal control, neural network control, fuzzy neural network control, expert control.