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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.

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.

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

A more efficient trajectory has a trapezoidal velocity profile.

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

We summarise the important points from this lecture.