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

Robot Control

Robot Modeling

Robot Control

Robot Control Example 1

Robot Control Example 1 (control strategy)

Robot Control Example 1 (desired position velocity and accelerations)

Robot Control Example 1 (robot model)

Robot Control Example 1 (controller design)

Robot Control Example 1 (simulation)

Robot Control Example 1 (results)

Robot Control Example 2 (task) q 3 =1m q 1 =1m q 2 =1. 5m A y0y0 z0z0 X0X0 z0z0 q 3 =3mm q 1 =5m q 2 =2.5 m B x0x0 y0y0 20s 5s varianta.1 varianta.2

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

Robot Control Example 2 (dynamic model) q3q3 q1q1 q2q2 c 11 c 22 c 33 m 1, J 1 m 2, J 2 m 3, J 3 x0x0 y0y0 z0z0 x1x1 y 2 y 3

Robot Control Example 2 (dynamic model)

Robot Control Example 2 (control strategy)

Robot Control Example 2 (controller design)

Robot Control Example 2 (simulation)

Robot Control Example 2 (results)