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Published in:
2015 | OriginalPaper | Chapter
7. Advanced Position Control
Author : Chi N. Thai
Published in: Exploring Robotics with ROBOTIS Systems
Publisher: Springer International Publishing
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Abstract
Chapter 6 showed the “forward-control” features of the ROBOTIS RoboPlus V.1 software suite such as “Goal Position”, “Torque Limit” and “Motion Page”. In this Chap. 7, “Torque Limit” would be revisited but in a more “dynamic” manner allowing a limited feedback control capability. Additionally new control parameters such as “Present Load” and “Joint Offset” would be described and their usage demonstrated using an AX-12 based gripper and a special Function named “CALLBACK” from inside the TASK tool.