Modelling, and control techniques of robotic manipulators: A review

Robotic manipulators are electronically controlled mechanical devices with several links, which are used to perform any specific task under certain circumstances. However, the vibration of these manipulators can provide a hindrance in the completion of the task. Hence, it is highly essential to model and control these manipulators appropriately to minimize the vibrations. This paper provides a comprehensive review of modelling and control techniques of different types of manipulators such as Single Link Manipulator (SLM), Single-Link flexible Manipulator (SLFM), and manipulator with double link (DLM). Furthermore, this review discusses the merits and demerits of different manipulator models and their control methodologies. Moreover, the utilization of the several optimization algorithms such as Differential Evolution (DE), Cuckoo Search (CSA), the Bat Algorithm (BA), the Particle Swarm Optimization (PSO), the Ant Colony Algorithm (ACA), and so on in controlling the position, velocity, and vibration of the manipulators are explored in this paper.