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 $β$ in open loop without risking damage to the robot. Therefore, each joint must be controlled. $j$ in position in order to stabilize the robot. To achieve this, the following control law can be chosen:...

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Inverse Dynamic Identification Model

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Bibliography

(1) - KHALIL (W.), DOMBRE (E.) - Modeling, identification and control of robots. - - Butterworth-Heinemann (2004).
(2) - ARMSTRONG-HELOUVRY (B.), DUPONT (P.), DE WIT (C.C.) - A survey of models : analysis tools and compensation methods for the control of machines...

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