S-Function Control Program for PD Plus Feedforward Control of Deterministic Manipulators

In PD plus feedforward control of deterministic robotic manipulators, using S-functions for implementation is a widely adopted approach. S-functions are specialized functions that enable more precise motion control for robotic arms. By developing a control program, we can significantly improve the accuracy and stability of manipulators during task execution. This control program can be customized according to specific task requirements to achieve optimal performance. During program development, key considerations include the manipulator's physical characteristics and kinematic parameters to ensure control system stability and reliability. The implementation typically involves designing a PD feedback controller combined with feedforward compensation for dynamic model uncertainties, where the S-function handles real-time control signal calculation and system integration. The algorithm structure generally includes position error calculation, derivative term computation for damping, and feedforward torque prediction based on inverse dynamics models.