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Motion Control

Motion Control. Two-Link Planar Robot. Determine Kp and Kv and Tv. Two-Link Planar Robot. Independent Joint Control. Assuming that the actuator is a rotary dc motor. Position and Velocity Feedback. Position and Velocity Feedback.

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Motion Control

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  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. Position and Velocity Feedback • Choose the zero of the controller to cancel the real pole by setting

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

  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

  11. 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)

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