High performance motion control based on model following acceleration joint control method

A decentralized manipulator joint control is proposed, based on the model-following acceleration control system which is constructed using only the information from a rotary encoder. When each joint of the robot manipulator is regulated by the proposed acceleration control system, it is not affected by its dynamical nonlinearity and is controlled independently. A continuous-path tracking method for fast-motion control is also designed using the acceleration control. Experimental and numerical examples show that the proposed acceleration control method is valid for multi-degree-of-freedom robot manipulators