1 / 26

Robots Control: The Inverse momentum control strategy

Explore the Inverse Momentum Control strategy in the context of Robot Control Examples 1 and 2 with detailed simulations and results.

broussard
Download Presentation

Robots Control: The Inverse momentum control strategy

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

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

  2. Robot Control

  3. Robot Modeling

  4. Robot Control

  5. Robot Control

  6. Robot Control

  7. Robot Control

  8. Robot Control

  9. Robot Control Example 1

  10. Robot Control Example 1 (control strategy)

  11. Robot Control Example 1 (control strategy)

  12. Robot Control Example 1 (desired position velocity and accelerations)

  13. Robot Control Example 1 (robot model)

  14. Robot Control Example 1 (robot model)

  15. Robot Control Example 1 (controller design)

  16. Robot Control Example 1 (simulation)

  17. Robot Control Example 1 (simulation)

  18. Robot Control Example 1 (results)

  19. 5s 20s B y0 q2=2.5m y0 A q2=1.5m x0 q3=3mm X0 q3=1m z0 q1=5m q1=1m z0 varianta.1 varianta.2 Robot Control Example 2 (task)

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

  21. y2 y3 m3,J3 c33 y0 q2 m2,J2 c22 x0 q3 m1,J1 x1 c11 q1 z0 Robot Control Example 2 (dynamic model)

  22. Robot Control Example 2 (dynamic model)

  23. Robot Control Example 2 (control strategy)

  24. Robot Control Example 2 (controller design)

  25. Robot Control Example 2 (simulation)

  26. Robot Control Example 2 (results)

More Related