Arber, C.C.ArberHirsch, U.U.HirschJacubasch, A.A.JacubaschKuntze, H.-B.H.-B.KuntzeRichalet, J.J.Richalet2022-03-082022-03-081988https://publica.fraunhofer.de/handle/publica/3151502-s2.0-0023745609There are numerous sophisticated control algorithms for industrial robots (IR) providing perfect results under academic laboratory conditions. The vast majority of IR-control systems on the market prefer rather simple conservative concepts. The main reasons for non-acceptance in practice are the high set-up costs, expensive hardware requirements and poor robustness with respect to parameter variations and model uncertainties. However, sophisticated manufacturing problems of the future (CIM) require model and more a better control performance, a high robustness within a crude industrial environment, more straight forward design and implementation procedures with PC assistance and implementation even on low-price conventional micro hardware. Predictive Functional Control (PFC) represents a new alternative concept for IR-control which can meet the above requirements. In this paper will be reported about the practical application of PFC for the position control of a conventional IR (KUKA 1 60). The excellent control behavior and robustness will be demonstrated by experimental results and a benchmark test. (IITB)enapplicationcomponentcontrolindustryrobot004conference paper