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A procedure for the interactive computer-aided control synthesis of manipulators is presented. The procedure is based on an approach to control synthesis in which the dynamics of the system are taken into account, but the resulting control law is simple and applicable. All phases of the procedure are briefly described. At each step of the control synthesis, interaction with the user is emphasized underlining the ability of the procedure to include user experience. The algorithm is applied to a six degree of freedom industrial manipulator.