ABSTRACT
Accurate and fast motions of robot manipulators can be realized via model-based motion control schemes. These schemes employ models of robot kinematics and dynamics. This chapter discusses all the necessary steps a control engineer must take to enable high-performance model-based motion control. These steps are (i) kinematic and rigid-body dynamic modeling of the robot, (ii) obtaining model parameters via direct measurements and/or identification, (iii) establishing the correctness of the models and validating the estimated parameters, and (iv) deducing to what extent the rigid-body model covers the real robot dynamics and, if needed for high-performance control, the identification of the dynamics not covered by the derived model. Better quality achieved in each of these steps contributes to higher performance of motion control.
