Abstract: Abstract In trajectory tracking and interaction control of robots, two fundamentally different concepts define the boundaries within which most nonlinear model-based approaches can be located. On the one hand controllers such as the PD+ preserve the natural inertia and avoid feedback of external forces and torques. On the other hand controllers based on feedback linearization, as used in most inverse dynamics approaches, enforce linear closed-loop dynamics by means of external force/torque feedback. Here, these two basic concepts of keeping and...
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Topics: 
Control engineering
Artificial intelligence