Nonlinear Control of 2-link Manipulator with Scilab and RTSX (Part III)

Part III : Adaptive Control In Part II of this trilogy, we demonstrate some effects of model uncertainty on inverse dynamics control. When modeling error increases, closed-loop performance degrades. More parameter variation could even destabilize the system. Some robust nonlinear … Continue reading

Nonlinear Control of 2-link Manipulator with Scilab and RTSX (Part I)

Part I : PD Control with Gravity Compensation In a common robotics textbook such as [1], robot control is classified to two types: 1. independent joint control, and 2. multivariable control. For the first category, a controller, either a PID … Continue reading