A robot joint controller is a type of feedback control system which is an old and well understood technique. We will learn how to assemble the various mechatronic components such as motors, gearboxes, sensors, electronics and embedded computing in a feedback configuration to implement a robot joint controller.
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A robot joint is a mechatronic system comprising motors, sensors, electronics and embedded computing that implements a feedback control system.
We recap the important points from this masterclass.
A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.
The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.
The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.
We revisit the fundamentals of geometry that you would have learned at school: Euclidean geometry, Cartesian or analytic geometry, coordinate frames, points and vectors.