Imaginary robot: Concept and application to robotic system modeling

A new dynamic model which represents an exact linearization scheme with a simplified nonlinear feedback is presented in this paper. To realize this model for robotic systems, the output function should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is introduced to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robots.