Control

Based on chapter 8 of Robotics: Modelling, Planning and Control by Siciliano, Sciavicco, Villani and Oriolo.

• The control problem
  • The dynamic equations considering the driving system
  • Centralized vs. decentralized control
  • Control in joint space vs. control in operational space
• Decentralized motion control
  • Idea and General schema
  • Position feedback scheme
  • Position and velocity feedback scheme
• Feed-forward compensation
  • Decentralized feed-forward compensation
  • Computed torque feed-forward control
• Centralized motion control
  • Introductory comments
  • PD control with gravity compensation in the joint space
  • PD control with gravity compensation in the operational space
  • Inverse dynamic control in the joint space
• Force control
  • Needs and methods
  • Passive compliance
  • Active compliance
  • Compliant behaviour in a compliant environment