A new model based tracking controller for robot manipulators using the trajectory pattern inverse dynamics

An inverse-dynamics-model-based tracking controller is presented. The inverse dynamics models are derived using the trajectory pattern method. The inverse dynamics models are in the form of a summation of a fundamental sinusoidal time function and a number of its harmonics with constant coefficients. The coefficients were computed offline using analytical expressions that are derived for the selected trajectory pattern. The structure of the inverse dynamics models is fixed for all trajectory patterns and robot manipulators. The controller permits ultrahigh-speed generation of the desired trajectory and feedforward signals. The online computations are minimal. The controller structure and simulation results indicating its effectiveness are presented for a spatial 3R manipulator