Position Control of Robotic Manipulators

20th Century has witnessed a massive upsurge in the use of manipulators in several industries especially in space, defense, and medical industries. Among the types of manipulators used, a single link manipulator is the most widely used. A single link robotic manipulator is nothing more than a contact operated by an actuator to execute a specific task such as moving a payload from point A to point B. Robot position control is a key competence for robot manufacturers, and the current development is focused on increasing robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, to address competing conditions, the mathematical models and control methods need to be continued. In this Book, the dynamic modeling and position control of the rigid and flexible link manipulators are presented systematically. The Euler-Lagrange method is utilized to model the robot link and moving base. The position control of robot manipulators has been done using different classical control techniques. The purpose of this book is to provide a good understanding of position control of flexible and rigid robotic manipulators and abstracting their behaviors.