Control of a new tele robot

This paper deals with the control of TELBOT, a new telerobot with a special kinematic design. A mechanical model of the manipulator is used to develop two model-based controllers. If the path is known in advance, feedforward decoupling can reduce the excitation of elastic vibrations of the lightweight robot. For telemanipulators with paths not known a priori, a feedback linearization is used. Taking into account the payload by identifying its inertia parameters gives an adaptive controller. If it is not possible to replace the conventional PID control by an individual concept, the mechanical model can also be used to optimize the control parameters. Simulation results are compared to measurements to verify the approach.