Robot Dynamics and Control
aditya kumar
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Abstract
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This paper explores the dynamics and control of robot manipulators, focusing on the relationship between joint trajectories and actuator forces. The authors utilize Lagrangian mechanics to derive the equations of motion for robot manipulators, highlighting the importance of feedback control in ensuring accurate trajectory following. The work contrasts joint space control and workspace control approaches while setting the foundation for more complex control problems involving environmental interactions.
Key takeaways
- For a robot manipulator with joint angles acting as generalized coordinates, the generalized forces are the torques applied about the joint axes.
- The matrix M (θ) ∈ R n×n is the manipulator inertia matrix.
- where M (θ) is the manipulator inertia matrix and V (θ) is the potential energy due to gravity.
- In this section, we consider the position control problem for robot manipulators: given a desired trajectory, how should the joint torques be chosen so that the manipulator follows that trajectory.
- This equation represents the dynamics in terms of the workspace coordinates x and the robot configuration θ.
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