A systematic approach to improve robot motion control

Abstract

This paper considers the problem of robot motion control and suggests a systematic procedure that can improve accuracy of tracking a reference robot-tip trajectory. The procedure consists of the following steps: (i) deriving a model of robot dynamics, (ii) identifying model parameters, (iii) applying the model in feedback linearization, (iv) identification of the robot dynamics resulting after feedback linearization, (v) design of feedback motion controllers that meet performance specifications. The suggested procedure is experimentally evaluated on a direct-drive robot.