Einsatz regelungstechnischer Verfahren für typische Roboteranwendungen

The paper gives a survey of closed-loop control algorithms developed in the course of the project “very advanced industrial robots”. In line with the original objectives, a modular system of efficient algorithms has been obtained, which can be adapted with low effort to a wide manifold of existing and future manipulation problems, robot configurations and hardware components (servo and sensor systems). The basic approach to the design of a joint control algorithm which is tailored for a special manipulation problem will be provided by the inverse system principle. Because it warrants both the joint decoupling and a global system linearization, the option is obtained of introducing a controller separately for each joint which optimally tatisfies special performance requirements (e. g. time optimality, no overshoot) and hardware conditions. The efficiency of the developed algorithms for typical classes of manipulation problems will be demonstrated by investigations and practical case studies carried through at the Fraunhofer-Institute IITB.