Basics 3 min read
Compliance Control
Task strategy Use of both position and force information is a unique feature in the control of robots physically interacting…
THE ARTICLE LIBRARY
All stories.
Ideas and explainers from across SenseCentral.
Basics 3 min read
Architecture of Hybrid Position/Force Control System
Based on Mason’s Principle, a hybrid position/force control system can be constructed in such a way that the robot control…
Basics 6 min read
Force and Compliance Controls
A class of simple tasks may need only trajectory control where the robot end-effecter is moved merely along a prescribed…
Basics 6 min read
Inertia Matrix
In this section we will extend Lagrange’s equations of motion obtained for the two d.o.f. planar robot to the ones…
Basics 3 min read
Lagrangian Formulation of Robot Dynamics
Lagrangian Dynamics In the Newton-Euler formulation, the equations of motion are derived from Newton’s Second Law, which relates force and…
Basics 4 min read
Physical Interpretation of the Dynamic Equations
In this section, we interpret the physical meaning of each term involved in the closed form dynamic equations for the…
Basics 6 min read
Duality of Differential Kinematics and Statics
We have found that the equivalent joint torques are related to the endpoint force by the Jacobian matrix, which is…
Basics 8 min read
Inverse Kinematics of Differential Motion
Now that we know the basic properties of the Jacobian, we are ready to formulate the inverse kinematics problem for…