On line discrete-time control of industrial robotsOn line discrete-time control of industrial robots Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2015-10-141995enA recent discrete-time robotic model is employed and linearized to develop three different LQ-type robot controllers. These controllers are: optimal time-varying linear-quadratic controller (OTVLQ), OTVLQ controller with steady-state error elimination, and one-step ahead optimal LQ controller. These controllers require moderate computational effort and are offered for microprocessor-based implementation. Experimental results on a KUKA IR 160/15 robotic model verified the success and efficiency of the controllers. http://creativecommons.org/licenses/by/4.0/Robotics and Autonomous Systems414289–299 Tzafestas, S. G Stavrakakis Georgios Σταυρακακης Γεωργιος A. Zagorianos Elsevier Robot control robots control systems robot control