2010 | OriginalPaper | Chapter
Control Techniques
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
Using inverse kinematics, we can calculate the joint kinematics for a desired geometric path of the end-effector of a robot. Substitution of the joint kinematics in equations of motion provides the actuator commands. Applying the commands will move the end-effector of the robot on the desired path ideally. However, because of perturbations and non-modeled phenomena, the robot will not follow the desired path. The techniques that minimize or remove the difference are called the
control techniques
.