A robot is a mechanism with an actuator at each joint i to apply a force or torque to derive the link (i). The robot is instrumented with position, velocity, and possibly acceleration sensors to measure the joint variables’ kinematics. The measured values are usually relative. They are kinematics information of the frame B i , attached to the link (i), relative to the frame B i−1 or B 0.
KeywordsControl Technique Inverted Pendulum Control Command Rotary Encoder Compute Torque Control
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