Contribution of suboptimal control of manipulation robots

Nonlinear model of an active spatial mechanism is considered as a set of subsystems each associated to one mechanical degree of freedom. For each decoupled subsystem, control, minimizing local criterion, is synthesized. Since the destabilizing influence of coupling among subsystems could be strong, global control is introduced in order to decrease suboptimality of the decentralized control applied. The control synthesis is demonstrated on an example of a six degree of freedom (DOF) manipulator.