Abstract
Chapter 6 showed the “forward-control” features of the ROBOTIS RoboPlus V.1 software suite such as “Goal Position”, “Torque Limit” and “Motion Page”. In this Chap. 7, “Torque Limit” would be revisited but in a more “dynamic” manner allowing a limited feedback control capability. Additionally new control parameters such as “Present Load” and “Joint Offset” would be described and their usage demonstrated using an AX-12 based gripper and a special Function named “CALLBACK” from inside the TASK tool.
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References
Burdet E et al (2013) Human robotics. MIT, Cambridge
Jazar RN (2010) Theory of applied robotics. Springer, Heidelberg
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Villani L, Schutter D (2008) Force control. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Heidelberg, pp 161–185
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7.1 Electronic Supplementary Material
Below is the link to the electronic supplementary material.
Video_7_1 (MP4 30,361 kb)
Video_7_2 (MP4 29,487 kb)
Video_7_3 (MP4 28,271 kb)
Video_7_4 (MP4 19,318 kb)
Video_7_5 (MP4 37,125 kb)
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Thai, C.N. (2015). Advanced Position Control. In: Exploring Robotics with ROBOTIS Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-20418-5_7
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DOI: https://doi.org/10.1007/978-3-319-20418-5_7
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-20417-8
Online ISBN: 978-3-319-20418-5
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