1. Motion Control

2. Two-Link Planar Robot Determine Kp and Kv and Tv

3. Two-Link Planar Robot

4. Independent Joint Control  Assuming that the actuator is a rotary dc motor

5. Position and Velocity Feedback

6.  Choose the zero of the controller to cancel the real pole by setting

7.  The closed loop transfer function Position and Velocity Feedback

8. Decentralized Forward Compensation  Why is this pole-zero cancellation scheme feasible?  Reduce tracking error but have no effect on disturbance rejection due to the open loop nature  Depend on exact matching of controller and compensation parameters with process param. etc.

9. Decentralized Forward Compensation  Block scheme of decentralized forward compensation

10. Computed Torque Feedforward Control

12. Operational Space Control  Difficult to measure operation space variables  Considerable computational requirements  Necessary for controlling interaction between manipulator and environment (no exact reference input)