Deals with TELBOT, a telerobot with a special kinematic design. Due to its lightweight construction, an elastic multibody model of this robot is presented. Reduced to a rigid model for online computation, this model is implemented in a model based controller suitable for telerobots, where the trajectories are usually unknown a priori. The model also enables an optimization of the control coefficients of a conventional PID controller considering arbitrary cost functions. Simulation results are compared to measurements to verify the approach.

Feedback linearization control considers the nonlinear dynamics of a system. It can be used to control a tele robot online, which reduces vibration excitation. The mechanical model of a new industrial robot with highly non-linear kinematics is developed. Feedback linearization control is tested on it by simulation. Results are compared to a conventional linear single-joint controller.