control_handouts

control_handouts - Jointed system components One link Arm...

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1 Jointed system components One link Arm • Assume mass is ALL at the distal link Block Diagram of One-Link System Physical Block Diagram of Multi-Link Robot System Dynamics Physical vectors
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2 Dynamics of 2-link – slender rod Dynamics of 2-link – point mass Dynamics of 2-link – point mass Control • Independent Joint Control (chapter 6) • Compute torque feedforward (Chapter 8) • Inverse Dynamic Control • Operation Space control • And Compliance, Impedance, Force….
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3 Actuator Model • Need to model relationships: – between actuator input (current) and output (torque) • Section 6.1: Permanent magnet DC-motor – Torque is approximately linear with applied current » (equation 6.4) Motor torque, Nm Applied current, amp Motor constant, Nm/amp Actuator Model • Need to model relationships: – between actuator torque and motor angle (q) • Section 6.1: Permanent magnet DC-motor – Second order ode » (equation 6.8 and 6.16) Rotational inertia of joint, kg m^2 control input
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control_handouts - Jointed system components One link Arm...

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