Home » Educational » Robot control part 1: Forward transformation matrices

Robot control part 1: Forward transformation matrices

studywolf

I’m doing a tour of learning down at the Brains in Silicon lab run by Dr. Kwabena Boahen for the next month or so working on learning a bunch about building and controlling robots and some other things, and one of the super interesting things that I’m reading about is effective methods for force control of robots. I’ve mentioned operational space (or task space) control of robotic systems before, in the context of learning the inverse kinematic transformation, but down here the approach is to analytically derive the dynamics of the system (as opposed to learning them) and use these to explicitly calculate control signals to move in task space that take advantage of the passive dynamics of the system.

In case you don’t remember what those words mean, operational (or task) space refers to a different configuration space than the basic / default robot configuration space. FOR EXAMPLE:…

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