MODEL REFERENCE CONTROL OF HIGH-VELOCITY INDUSTRIAL ROBOTS.

The classical methods of servoing independently with a linear controller each joint of a manipulator system, fails when high accuracy is desired in high-velocity trajectory tracking. A model-reference feedback-feedforward control system has been developed, which improves theoretically the performances. It uses the robot's dynamic model, which compensates for nonlinearities and load variations, by computing the state-dependent cross-couplings between the joints. The dynamic model, consistent with real-time computations and a reasonable amount of storage capacity, is calling for automated factorizations in symbolic equations generations, and for numerical simplifications in discarding neglectable terms.