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Model

by   -   December 5, 2013

HisatoKobayashiGuest talk in the ShanghAI Lectures, 2009-11-12

If we try to describe any kinds of robot by mathematical models, they must be very complicated equations. Even, such robotic systems are categorized as a conventional dynamic system consist of positive definite inertia matrix, Coriolis’ force term, friction term, gravity term and so on, we cannot derive any authentic control scheme from such complicated nonlinear systems.

Of course, we can make a servo system for a joint control but we do not have any systematic control scheme for whole robots.



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