New answers tagged control
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I am not sure about courses, since robotics (as many other applied fields) cherry picks methods and techniques from a wide range of areas of mathematics, therefore taking any course in Mathematics will definitely include some (but in many cases a small) amount of content needed for robotics. Furthermore, there are always some alternative methods which can be ...
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Welcome to Robotics, Andrew Sol. I think I'm a little confused with your question as it appears to be about independent rotational masses connected by rotational springs, but then later you're asking about gear ratios.
This is a succinct as I can think to put it, and again I may have misunderstood the question so please feel free to comment on this answer ...
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I think Mark Booth's answer was best. Talked about the applicational differences between the modes, without getting into theory or detracting from the original question.
If I can expand a little further to bring more clarification:
Each mode uses the commanded method as its PRIMARY form of control, and it has control of the other parameters only by way of ...
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The equations of motion is simply
$$
\begin{align}
J_m \ddot{\theta}_1 + K_{md}(\theta_1-\theta_2) &= \tau_e \tag{1} \\
J_d \ddot{\theta}_2 + K_{md}(\theta_2-\theta_1) &= \tau_L + \tau_s \tag{2}
\end{align}
$$
Rewriting (1)&(2), we get
$$
\begin{bmatrix}
J_m & 0 \\ 0 & J_d
\end{bmatrix}
\begin{bmatrix}
\ddot{\theta}_1 \\ \ddot{\theta}_2
...
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Yes it is possible.
You can look at the following paper
Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators With Actuation Compliance
Guanglei Wu , Shaoping Bai , Jørgen A. Kepler
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The two approaches you mention are not as separated as they seem. Both kinematic models and dynamic models are not 100% accurate. This is the reason closed loop control is needed (well probably only one of the reasons if you ask controls experts).
You should not think of kinematic and dynamic models of being completely separated. They are all models ...
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