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 II)

Part II : Inverse Dynamics Control In the last article, we exploit some part of the robot model, the gravity term, and compensate it with the controller. That makes the control law nonlinear and more computationally-intensive than the standard PID. … 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