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Lecture Notes For Robotics

This document discusses the challenges of controlling robots with multiple joints, including dynamic interactions between joints that can affect motion, difficulties compensating for coupling effects between joints, and using a Lagrange-Euler model to understand manipulator dynamics and how motion in one axis impacts others. It aims to teach about problems in multiple joint controllers and how to account for inertial coupling between joints.

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_MerKeZ_
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66 views7 pages

Lecture Notes For Robotics

This document discusses the challenges of controlling robots with multiple joints, including dynamic interactions between joints that can affect motion, difficulties compensating for coupling effects between joints, and using a Lagrange-Euler model to understand manipulator dynamics and how motion in one axis impacts others. It aims to teach about problems in multiple joint controllers and how to account for inertial coupling between joints.

Uploaded by

_MerKeZ_
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Multiple Joint Control

By Vasfi Emre mrl, Ph.D.


In this lecture, you will learn:
- The problems in multiple joint controllers
- Dynamic interactions between joints
- Difficulties in compensating joint
coupling effect
- Multiple joint control and Lagrange-Euler
model

By Vasfi Emre mrl, Ph.D., 2005 2


By Vasfi Emre mrl, Ph.D., 2005 3
By Vasfi Emre mrl, Ph.D., 2005 4
Problems in controlling multiple joint
manipulators
how does motion of one axis affect the other?

By Vasfi Emre mrl, Ph.D., 2005 5


Manipulator Dynamics

By Vasfi Emre mrl, Ph.D., 2005 6


Compensating for
inertial coupling

By Vasfi Emre mrl, Ph.D., 2005 7

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