CS545_Lecture_12 - CS545-Contents XII Nonlinear Control...

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CS545—Contents XII Nonlinear Control Joint space control Decoupled control PID control in joint space Centralized control Compute torque control Inverse dynamics control Operational space control Reading Assignment for Next Class See http://www-clmc.usc.edu/~cs545
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Two Control Spaces Joint Space: Solve two separate subproblems Inverse kinematics to transform desired trajectories in operational space into joint space (including higher derivatives!) Joint space controller tracks desired trajectories in joint space Quality of control depends on quality of kinematics model (indirect control method) Operational Space: Formulate the controller directly in operational space, e.g., a PD controller in Cartesian space. Inverse kinematics is somehow included in the operational space controller Quality of control is independent of kinematics if sensor measurements are taken directly in operational space (but this is rarely the case) Controller can break if inverse kinematics is ill-defined.
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Joint Space Control Independent (de-centralized) Joint Space Control Is appropriate when: Coupling terms are negligible and can be treated as disturbances Robot is really decoupled (i.e., like a set of 1DOF robots)
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CS545_Lecture_12 - CS545-Contents XII Nonlinear Control...

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