Forward-model-based control system for robot manipulators

  • Authors:

  • Rafael Osypiuk;Bernd Finkemeyer;Friedrich M. Wahl

  • Affiliations:

  • Department of Electrical Engineering, Technical University of Szczecin, ul. 26 Kwietnia 10, 70–313 Szczecin (Poland).;Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany).;Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany).

  • Venue:
  • Robotica
  • Year:
  • 2004

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Abstract

Although numerous sophisticated nonlinear control algorithms exist in literature, it is still state of the art to use simple linear joint controllers in industrial robotic systems. Most nonlinear concepts are based on a more or less accurate inverse model of the robot. In this paper a forward-model-based control system, the so-called Model Following Control (MFC), for robot manipulators is presented. Its theoretical basics and its concept are explained. The quality and the applicability of the MFC control concept has been analyzed in many experiments. The MFC system is compared with classical linear controllers and nonlinear feedforward controllers with respect to robustness. Qualitative as well as quantitative results are presented and discussed.