Advanced Position Control

  • Chi N. Thai


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.


Present Position Video File Goal Position Torque Limit Callback Function 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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)


  1. Burdet E et al (2013) Human robotics. MIT, CambridgeGoogle Scholar
  2. Jazar RN (2010) Theory of applied robotics. Springer, HeidelbergGoogle Scholar
  3. Niku SB (2011) Introduction to robotics. Wiley, HobokenGoogle Scholar
  4. Villani L, Schutter D (2008) Force control. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Heidelberg, pp 161–185Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Chi N. Thai
    • 1
  1. 1.College of EngineeringUniversity of GeorgiaAthensUSA

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