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This paper describes basic principle of the state feedback control technique and its potential for the feed drive control in the machine tool domain. It evaluates the quality of the state control and compares it with the traditional cascade control. The emphasis is put on an estimation of the state variables using an FEM model of the feed drive mechanical structure and machine frame.

In the study, the mechanical behaviour of the robot, end effector – object – end effector, robot system is analyzed in terms of external forces affecting robots and their grippers as well as deformation forces influencing on the glass sheet through grippers provided that the robot kinematical structure and vacuum gripping head form an absolutely rigid system. The solution results are stress fields in the glass sheet, requirements for the robot path accuracy, and recommendations for solving special vacuum grippers for this type of robotic handling.