Abstract
In the robot the motor or actuator ensures movement of the end effector by providing the necessary power to operate the arm. The arm should be considered in the context of the whole unit. The centralized control system is then involved at only one level (ie to control the various motors actuating the mechanical structure). In most assemblies this function is achieved by:
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1.
a number of local motor units, each involving a single articulated variable;
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2.
coordination of the units in a single system that involves coupled or partially coupled variables.
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© 1983 Hermes Publishing (France)
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Lhôte, F., Kauffmann, JM., André, P., Taillard, JP. (1983). Robot control. In: Robot Components and Systems. Robot Technology Series, vol 4. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-6403-0_7
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DOI: https://doi.org/10.1007/978-94-011-6403-0_7
Publisher Name: Springer, Dordrecht
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