Dynamic control of articulated robots
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.
KeywordsCoriolis Force Dynamic Control Dynamic Algorithm Task Space Dynamic Coefficient
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