2. Data control, acquisition, and processing
2.1 Robot control
(5) 's MDD shows that robots are double integrator systems that are naturally unstable in open loop. It is therefore impossible to identify in open loop without risking damage to the robot. Therefore, each joint must be controlled. in position in order to stabilize the robot. To achieve this, the following control law can be chosen:...
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Data control, acquisition, and processing
Inverse Dynamic Identification Model
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