Robotikkontroll

Robotikkontroll refers to the methods, algorithms, and hardware used to govern the motion and behavior of robots in order to achieve specified tasks. It covers modeling, sensing, decision-making, and actuation within dynamic environments, with the aim of ensuring stability, accuracy, safety, and efficiency.

Core concepts include the control loop, which uses feedback from sensors to adjust actuators, and models of the robot’s dynamics. State estimation combines sensor data with a dynamic model to infer the robot’s current state. Control strategies range from classical approaches such as proportional-integral-derivative (PID) controllers to modern methods like model predictive control (MPC) and adaptive control. In multi-robot systems, hierarchical or distributed control coordinates actions among units.

Sensing and perception provide data for control loops through encoders, vision systems, LiDAR, force sensors, and other devices. Techniques such as Kalman filters and nonlinear observers estimate states under uncertainty. Planning and execution integrate trajectory planning with real-time control to follow paths while compensating for disturbances and model errors.

Applications of robotikkontroll span industrial automation, collaborative robots (cobots), service robots, autonomous vehicles, drones, and medical robotics. Safety is a central concern, with international standards and guidelines such as ISO 10218 for industrial robots and ISO/TS 15066 for collaborative robots, along with risk assessment and redundancy in system design.

Challenges include latency, uncertainty, nonlinear dynamics, and ensuring robust performance. Ongoing research areas include learning-based control, robust and adaptive methods, estimation under partial observability, and the use of digital twins for validation and optimization.