Development of Industrial Robot Control Schemes Utilizing Imaginary Robot Model

A canonical transformation for simplifying robot dynamics modeling has been developed. This is a nonlinear transformation methodology converting robotic system equation into an exactly linear one with Brunovsky canonical form, as well as a significantly simple nonlinear feedback formulation. For its realization, a hand position vector in an imaginary robot model that has been introduced for interpretation of the canonical transformation method is to be chosen as an output function in robotic control systems. This paper develops a control scheme based on the imaginary robot model to realize accurate, robust and real-time optimal control with lower computational complexity for robotic systems.