Position control of industrial robots - impacts, concepts and results

The objectives of this survey are to summarize and to evaluate the present state of knowledge concerning control algorithms for industrial robots (IR). In the past 15 years, there has been a confluance of research on this field and excellent results of general interest have been produced. However the wide practical application of the results is rather poor. The applicability of advanced control algorithms will be demonstrated by practical case studies carried through at the Fraunhofer-Institute for Information and Data Processing (IITB). (IITB)