From the series: Modeling, Simulation and Control
Jose Avendano, MathWorks
Sebastian Castro, MathWorks
Previously, in MATLAB and Simulink Robotics Arena: Designing Robot Manipulator Algorithms, Jose Avendano and Sebastian Castro discussed how to import robot manipulator description files, solve inverse kinematics, and design supervisory control algorithms with MATLAB® and Simulink®.
Jose and Sebastian are back to talk about joint torque controllers for robot manipulators using the Robotics System Toolbox™. You will learn how to calculate inverse dynamics, design controllers for joint actuators with feedforward and feedback controllers, and test the joint controller performance on typical position control and grasping tasks.
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