Study and modelling of new control strategies for industrial robot manipulators

One of the most important research field in mechatronics, and particularly in robotics, regards the estimation of the dynamic parameters of a general mechanical system. Many researchers have tried to understand how obtain a good dynamic parameters estimation and what are the best methodologies to apply in order to find them; now some already tested methods are widely available (see, for example, [1] and [2]). Examples of dynamic parameters to find are motor effective force/torque without friction components, links centre of mass and inertia, applied load, friction force/torque in each joint, elasticity in each joint, etc. Their knowledge is fundamental in order to understand how a mechanical system (e.g. an industrial robot) behaves, and how it is possible, by the use of an advanced control strategy, to improve its performance, and furthermore to know what can be the future mechanical design techniques to apply in order to avoid, or decrease, the undesired effects. During the doctorate work it is proposed to focus on the modelling and compensation of both friction and elasticities effects in the joint of an industrial robot manipulator. The research proposal activity can be subdivided into three main parts: the study and modelling of the friction effects; the study and modelling of the elasticities effects; the development of a control strategy that will be able, by taking into account friction and elasticities, to improve robot performance.