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Forward-model-based control system for robot manipulators

Published online by Cambridge University Press:  21 April 2004

Rafael Osypiuk ,
Bernd Finkemeyer  and
Friedrich M. Wahl
Rafael Osypiuk
Affiliation:
Department of Electrical Engineering, Technical University of Szczecin, ul. 26 Kwietnia 10, 70–313 Szczecin (Poland).
Bernd Finkemeyer
Affiliation:
Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany).
Friedrich M. Wahl
Affiliation:
Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany).
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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.

Keywords

Model-based controlModellingFeedforward controlModel following control
Type
Research Article
Information
Robotica , Volume 22 , Issue 2 , March 2004 , pp. 155 - 161
Copyright
2004 Cambridge University Press

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