Assesment of Traditional and Hybrid Controller for Controlling Robotic Manipulator System

Abstract

Controlling of robot has always became an exigent work for engineers these controllers were came into existence since 1950, when a PID controller was used to control complex systems the structure of this controller was very easy to design and has always remain a most popular controller in the industry because of its lucidity and low cost. it is sufficient enough to handle linear system but was unfit for nonlinear system, researchers and scientist has tried to resolve the drawbacks of PID by fuzzy logic controller which was effective for nonlinear system further as the year passes by new controlling techniques has arrived which were more powerful in terms of controlling in comparison to the previous ones. neuro logic controller came to handle those systems which are complex, highly nonlinear and poorly dynamically analyzed and further this controller was combine with the Traditional controllers and give rise to neuro PID controller and neuro Fuzzy PID controller. This paper presents a detailed review on various controlling techniques which are being used in the controlling of robotic manipulator starting from the development of the first controller till now.