This paper contains a proposal for the implementation of robotic controllers. It seeks to solve
the problem of calculating an optimal control sequence at each sampling time that performs …

Abstract Model-based robot control algorithms require the on-line evaluation of robot
dynamics, leading to hybrid continuous/discrete-time implementations. The performance of …

Model-based control algorithms for industrial manipulators require the on-line evaluation of
robot dynamics and are particularly sensitive to modelling errors. The development of a …

Robot manipulators present restrictions on their performance, such as the maximum torque
the motors can apply, limitations in their position, speed, acceleration, etc. This paper …

This paper presents a novel approach for model predictive control dynamics applied to a two-
link manipulator robot. The technique involves the initial step of linearizing the inherently …

This paper is aimed at analyzing the importance of compensation of the manipulator
nonlinear dynamics in control of industrial-type robots. A dynamic analysis is car-ried out for …

A general approach is presented to derive discrete-time models of robotic manipulators.
Such models are obtained by applying numerical discretization techniques directly to the …

In this paper a practical implementation of a simplified procedure for the identification of the
model of an industrial robot manipulator is presented. The approach consists of selecting a …

The paper presents an efficient control algorithm applied on a two-link robot manipulator
with input constraints. The algorithm proposes a suboptimal solution to the predictive control …

The detailed model for the motion of a manipulator system is linearized along a specific
path. An on‐line parameter estimation algorithm based on the least‐squares criterion is …