Abstract A method to analyze the nonlinearities and interactions in industrial robots and a control scheme to diminish these effects are discussed. The analysis method consists of first simplifying the robot dynamic model, and then displaying graphically some of the dynamic properties. The graphs can be used to assess if advanced control methods like multivariable feedback control, variable gain control or feedforward compensation are worthwhile in a given robot application. The control method proposed to compensate the significant inertial interactions and nonlinear effective joint inertias is basically a multivariable variable gain PD-controller. Simulation results are presented and they show that in the case of strong inertial interactions between the joints or wide changes in the effective inertias the multivariable variable gain PD-controller results in significantly more accuratc control than conventional SISO-controllers.
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