
Second Order Dynamic Systems
lesson
If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.
lesson
If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.
lesson
We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.
masterclass
lesson
MATLAB normally deals with matrices of floating point numbers. An image is typically represented by an array of small integer values, pixel value or greyscale values, which have a limited dynamic range and special rules for arithmetic.
lesson
We can model a DC motor as a resistor and a voltage source, and then understand the implications of controlling either the voltage or current supplied to the motor. We also learn about common methods for motor control such as the H-bridge driver and pulse width modulation.
lesson
We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.
lesson
So far we have worked out the torques on a robot’s joints based on joint position, velocity and acceleration. For simulation we want the opposite, to know its motion given the torques applied to the joints. This is called the forward dynamics problem.
lesson
We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.
masterclass
lesson
We recap the important points from this masterclass.