A control architecture for robot manipulations with payload variations

This paper presents an original approach to the control problem of robot manipulators with payload variations. The controller consists of a hierarchical structure composed of a coordination system and an execution system. There have been a considerable amount of research in dynamics and control of robots, and a current topic of interest is the development of efficient algorithms for dynamic control of manipulators which operate under conditions where the payload changes in time. It is assumed that the changes can occur at any point in time and that information about the maximum and minimum weight of the load are known