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On the application of a new method for fast and robust position control of industrial robots

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5 Author(s)
Kuntze, H.-B. ; Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, West Germany ; Jacubasch, A. ; Hirsch, U. ; Richalet, J.
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A concept called predictive functional control (PFC) is presented for industrial robot (IR) control. It provides excellent control performance, a high accuracy even for fast trajectories, an outstanding tracking quality for sharp contour deviations, and a very good robustness with respect to parameter variations. It is shown that PFC can be implemented on conventional IR control systems. The performance is demonstrated by several experimental results

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988