Robots Control: The Inverse momentum control strategy

1. Robots Control: The Inverse momentum control strategy Curse 9-10

2. Robot Control

3. Robot Modeling

4. Robot Control

5. Robot Control

6. Robot Control

7. Robot Control

8. Robot Control

9. Robot Control Example 1

10. Robot Control Example 1 (control strategy)

11. Robot Control Example 1 (control strategy)

12. Robot Control Example 1 (desired position velocity and accelerations)

13. Robot Control Example 1 (robot model)

14. Robot Control Example 1 (robot model)

15. Robot Control Example 1 (controller design)

16. Robot Control Example 1 (simulation)

17. Robot Control Example 1 (simulation)

18. Robot Control Example 1 (results)

19. 5s 20s B y0 q2=2.5m y0 A q2=1.5m x0 q3=3mm X0 q3=1m z0 q1=5m q1=1m z0 varianta.1 varianta.2 Robot Control Example 2 (task)

20. Robot Control Example 2 (desired p,v,a)

21. y2 y3 m3,J3 c33 y0 q2 m2,J2 c22 x0 q3 m1,J1 x1 c11 q1 z0 Robot Control Example 2 (dynamic model)

22. Robot Control Example 2 (dynamic model)

23. Robot Control Example 2 (control strategy)

24. Robot Control Example 2 (controller design)

25. Robot Control Example 2 (simulation)

26. Robot Control Example 2 (results)