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Definition of "computer torque control" |
computed torque control is depicted in figure. The feedback controller sends its output through the inverse dynamic model. The feedback control law comprises and independent-joint PD controller with velocity reference, plus the desired acceleration. In the figure qd , q'd , and q''d denote desired position, velocity, and acceleration vectors, respectively. q and q' denote measured generalized position and velocity vectors. Finally, Kp and Kd are positive definite constant PD controller matrices. |
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