Dynamic control of articulated robots

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


Dynamic control is concerned mainly with time variables. For example, consider a trajectory X¯(0) (t) in the task space (X¯ is the vector defined in Chapter 5); to produce movement along this trajectory a torque vector Γ¯(t) must be applied to the actuators or to the articulations (the size of the torque must be known). In practice, movement from X¯1 to X¯2 along trajectory X¯ (without oscillation) in a time equal to or less than t12 is difficult to achieve.


Coriolis Force Dynamic Control Dynamic Algorithm Task Space Dynamic Coefficient 
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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