Part IV: 6-DOF Manipulator Control 2
Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 08:02
Joint Space Inverse Dynamics Control
•Trajectory: [0 0 0 0 0 0] to [pi pi/2 -pi/2 pi/4 pi/4 pi], t= 3s
•Control Law :
•PD Gain Tuning
+ P = [100 100 50 20 20 20]
+ D = [10 10 10 20 20 20]
•Trajectory & Response of qi
• Simulation
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Task Space Inverse Dynamics Control
• Trajectory & Response of axis x,y,z
• Simulation
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