Application of the ADAP method to model-based control of the FutureForge manipulator

In this work, the authors apply a novel approximation approach to obtain a linear plant model for accurate model-based control of a large-scale industrial manipulator to achieve submillimetre accuracy in the placement of its end-effector. This approach is compared against another commonly used approach in the field of model-based control and is critically evaluated for its suitability. The novel approach discussed, previously developed by the same authors, approximates the fully coupled and nonlinear system via two auxiliary problems. This approach has previously been observed to perform well in the solution of nonlinear, coupled systems. This present work builds on earlier work by examining the suitability of this method for use in the design of accurate positional control with critical-to-supercritical transient vibrational response characteristics.