We will model a manipulator as a mechanism that is
instrumented with sensors at each joint to measure the
joint angle and has an actuator at each joint to apply a
torque on the neighboring link. Sometimes velocity
sensors (tachometers) are also present at the joints.
We wish to cause the manipulator joints to follow
prescribed position trajectories, but the actuators are
commanded in terms of torque, so we must use some
kind of control system to compute appropriate actuator
commands that will realize this desired motion.
第九章 机器人的线性控制
§9.1 反馈与闭环控制
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