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Search Results for: control

Rigid Body Dynamics

masterclass

Modelling an Electric Motor

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.

Inverting the Jacobian Matrix

lesson

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

1D trapezoidal trajectory

lesson

A more efficient trajectory has a trapezoidal velocity profile.

Velocity of 6-Joint Robot Arm – Rotation

lesson

We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.

Summary of 2D geometry and pose

lesson

We summarise the important points from this lecture.

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