Model based controllers for robot manipulators using basis trajectory inverse dynamics

A model-based controller structure based on the trajectory pattern method is presented. A plane 2R manipulator is used to demonstrate the effectiveness of the developed control scheme through computer simulations. A systematic model approximation technique is presented. The model parameter inaccuracy problem is discussed. The controller is shown to address the real-time computational difficulties and the device specificity problem of model-based control schemes. This approach also provides the basic framework for addressing the problems of model parameter inaccuracies, studying the inherent characteristics of the nonlinear manipulator systems, and development of a systematic model approximation technique