Principles and design of model-based robot controllers

Vassilios D. Tourassis

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


Model-based control algorithms for industrial manipulators require the on-line evaluation of robot dynamics and are particularly sensitive to modelling errors. The development of a unifying framework for the analysis and design of model-based robot control strategies is the theme of this paper. In this framework, the practical problems associated with real-time implementation are highlighted and methods to improve the robustness of the closed-loop system are suggested.

Original languageEnglish
Pages (from-to)1267-1275
Number of pages9
JournalInternational Journal of Control
Issue number5
Publication statusPublished - May 1988

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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