#### Advanced Joint Control Strategies

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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.

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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.

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As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.

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For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

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We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.

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We consider a robot with three joints that moves its end-effector on a plane.

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We consider the simplest possible robot, which has one rotary joint and an arm.

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The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.

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We learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.

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Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])

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Much of what we know about robots comes from fiction. Let’s look at fictional robots and the underlying reality.