ONE ENGINEER'S CONTROL CONCEPT OF INDUSTRIAL MANIPULATORS AND FIRST RESULTS OF ITS CONCRETE APPLICATION

The programmed (nominal) control is synthesized on the level of nominal regimes and by means of this the coupling among the degrees of freedom (d.o.f.) in nominal conditions is taken into account in control synthesis. Thus, on the level of perturbed regimes the influence of coupling among the d.o.f. is reduced. In the paper the global control in the form of feedback with respect to the forces is introduced. In order to discuss different aspects of application of decentralized control, the example of the second Yugoslav industrial manipulator UMS-2 is presented.