Some experimental results on model-based control schemes

An overview is presented to research on the analysis, synthesis, real-time implementation and performance evaluation of model-based manipulator control schemes. The schemes synthesize strategies that include a dynamical model of the manipulator in the feedback loop. Depending on the way that the dynamical model is incorporated, it is possible to create different types of control laws. For example, the computed-torque method utilizes the model is the feedback loop in order to both decouple and linearize the system. Independent joint controllers are then designed to achieve accurate trajectory tracking and to reject unknown external disturbances. The feedforward control scheme is another model-based control method and utilizes the dynamics model in the feedforward path. The idea is that the feedforward torques/forces provide gross signals and independent joint controllers provide the correcting control signals to reject disturbances that are unknown