This chapter discusses the advanced control systems for robotic arms. The robot control problem can be divided into two main areas: kinematic control, the co-ordination of the links of the kinematic chain to produce desired motions of the robot, and dynamic (or kinetic) control, driving the actuators of the mechanism to follow the commanded positions/velocities.

Inspec keywords: artificial limbs; robot kinematics; robot dynamics; motion control; mobile robots; actuators

Other keywords: dynamic control; kinematic control; robot control; actuator; robot motion; robotic arm

Subjects: Mobile robots