Positional control of articulated robots

  • Philippe Coiffet
Part of the Robot Technology book series (RT, volume 1)


The main problem in controlling a robot can be stated thus: with the AMS in any possible configuration (which means that the articulated variables, θi, have any realizable value), the end effector (ie its coordinate reference axes) must be placed at a point in space with a definite orientation, relative to a fixed coordinate set (Rf) related to the environment — the coordinate set (R0) related to the base of the robot is known relative to Rf.


Control Voltage Reduction Gear Gravitational Torque Definite Orientation Balance Configuration 
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.


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Copyright information

© Kogan Page Ltd 1983

Authors and Affiliations

  • Philippe Coiffet
    • 1
  1. 1.Automation LaboratoryMontpellierFrance

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