Independent joint control: Estimation and compensation of coupling and friction effects in robot position control

The method of independent joint control has been widely used in the position control of industrial robots. In order to improve the control performance of this type of controllers, the concept of nonlinearity-estimation and -compensation is introduced. With this extended method comparable results can be obtained as with the method of exact linearization. Especially by the treatment of unmodeled or inaccurate effects, e.g., friction, load variation or parameter inaccuracy, the presented control concept shows great advantages.