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

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.<
>