Various robot control algorithms for 3DoF manipulator: from Gravity Compensation to Force Control. Dynamical properties of the simulated robot are identical to the PUMA 560 surgical manipulator.
Conventional control approach - Passivity Based Robust Control, tracks desired trajectory in the presence of parametric uncertainty:
Reinforcement Learning control example:
The following control algorithms are implemented in this project:
Regulation problem:
- PD control
- PD control with gravity compensation
- Reinforcement Learning
Tracking problem:
- inverse dynamics control
- Robust control
- Adaptive Inverse Dynamics control
- Lyapunov (Passivity) based tracking control
- Lyapunov based Robust control
- Lyapunov based Adaptive control
Interaction problem:
- impedance control
- parallel control
- hybrid motion force control
- hybrid impedance velocity control
- hybrid impedance force control