Modeling, control and optimization of a new telerobot

Deals with TELBOT, a telerobot with a special kinematic design. Due to its lightweight construction, an elastic multibody model of this robot is presented. Reduced to a rigid model for online computation, this model is implemented in a model based controller suitable for telerobots, where the trajectories are usually unknown a priori. The model also enables an optimization of the control coefficients of a conventional PID controller considering arbitrary cost functions. Simulation results are compared to measurements to verify the approach