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The objective of this paper is to develop a general approach to determine the optimal motion programs at the joints of a robot in order to perform a task between given work stations. The optimal joint motion programs are determined by minimizing the joint torque values. The results obtained by this technique are compared with some of the standard motion programs used in industries.

In this article a systematic approach of modelling and control for a parallel robotic manipulator is presented. Regarding the framework of structured analysis of dynamical systems the derivation of a differential-algebraic model of the mechanical system is straightforward. Using some differential-geometric considerations based on invariant manifolds and the definition of fictitious additional input and output variables a suitable state feedback can be constructed which transforms the differential-algebraic representation into a state-space model for the robotic manipulator. On this basis a classical two-degree-of-freedom (2-DOF) control structure has been designed using the well-known input-output linearization and a linear time-variant Kalman filter-based output feedback. Finally, the control structure including a friction compensation is applied to the robotic system in the laboratory which shows the practical applicability of the proposed procedure.

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