motion control

Motion Control

Two-Link Planar RobotTwo-Link Planar Robot

Determine Kp and Kv and Tv

Two-Link Planar RobotTwo-Link Planar Robot

Independent Joint ControlIndependent Joint Control

Assuming that the actuator is a rotary dc motor Assuming that the actuator is a rotary dc motor

Position and Velocity FeedbackPosition and Velocity Feedback

Position and Velocity FeedbackPosition and Velocity Feedback

Choose the zero of the controller to cancel Choose the zero of the controller to cancel

the real pole by settingthe real pole by setting

The closed loop transfer function

Position and Velocity FeedbackPosition and Velocity Feedback

Decentralized Forward CompensationDecentralized Forward Compensation

Why is this pole-zero cancellation scheme feasible?

Reduce tracking error but have no effect on disturba

nce rejection due to the open loop nature

Depend on exact matching of controller and compen

sation parameters with process param. etc.

Decentralized Forward CompensationDecentralized Forward Compensation

Block scheme of decentralized forward compensation

Computed Torque Feedforward ControlComputed Torque Feedforward Control

Computed Torque Feedforward ControlComputed Torque Feedforward Control

Operational Space ControlOperational Space Control

Difficult to measure operation space variables

Considerable computational requirements

Necessary for controlling interaction between

manipulator and environment (no exact reference input)