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An approach to the interactive design of control systems for robotic manipulators is presented. The approach is based on the "inverse problem" technique, a linear state feedback of the joint servomechanism and a disturbance rejection technique. The approach is a step-by-step procedure which is part of a computer aided design (CAD) package for robotic manipulators. In this paper, the procedure is described and applied to the analysis of motion of a six degree of freedom manipulator which performs a welding operation.