SIX APPLICATION TO THE ROBOTIC MANIPULATOR 94
Manipulator Dynamics.............. 94
Actuator Driving Torques 96
Feedback Control System for Tracking and Disturbance
Rejection.............. 97
Determining the Dynamics of the Internal Model System... 98
Feedback Gain Calculation 101
Compensation for Flexibilities in the Manipulator's
Links 106
SEVEN SIMULATION RESULTS 109
The Simulated System 109
Control about a Stationary Configuration 112
Control over a Time-varying Nominal Trajectory 124
Correcting for Flexibilities 147
EIGHT CONCLUSIONS AND OPEN PROBLEMS 153
REFERENCES 155
BIOGRAPHICAL SKETCH..... 158
IV