Shall We Use a Dynamic Model to Control the Motions of Industrial Manipulators ?

In this paper, we focuse on the role of a dynamic model in the control of the motions of a manipulator. Although this question has been the object of many works for years, it is still often diicult, when designing a controller for an industrial manipulator, to predict the costs and the expected beneets of a dynamic controller implementation. In this context, the aim of our paper is not to propose a new approach for the motion control, but to show some experimental case studies that we have done in the implementation of many dynamic controllers on diierent kinds of industrial manipulators 1], 2]. We believe that they can point out some important practical aspects of this problem, and so help the designer in making a choice.