SUMMARYThere is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

中文翻译：

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柔性和刚性连杆机械手控制技术的批判性回顾

发明内容对于开发有效的控制器以对柔性连杆机械手 (FLM) 或刚性连杆机械手 (RLM) 执行快速和准确的操作存在很高的需求。因此，本文对如此广阔的领域是有益的，对于对机器人技术感兴趣的研究人员来说，对 FLMs 和 RLMs 的各种控制器有足够的了解也是有利和不可缺少的，因为控制器的概念被详细阐述。本文集中在批判性地审查 FLM 和 RLM 的经典控制器、智能控制器、鲁棒控制器和混合控制器。本文总结了上述控制方法的优缺点；它还对控制器在设计难度、性能、