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Electric motors are typically quite weak, they produce a low torque, so it’s very common to add a reduction gearbox.

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.

We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.

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.