On the interactive design of control systems for robotic manipulators

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.