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Definition of "joint space control" |
depicted in the figure.The joint space control scheme consists of the trajectory conversion, which recalculates the desired trajectory from the operational space (Xd , X'd , X''d ) into the joint space (qd , q'd , q''d). Then, a joint space controller is designed that allows tracking of the reference inputs. Notice that only joint inputs are compared with joint positions, velocities, and accelerations. The joint space control does not influence the operational space variables which are controlled in an open-loop fashion through the manipulator mechanical structure.Joint space control is usually a single input–single-output system; therefore, manipulator with n degrees of freedom has n such independent systems. A single-input–single-output system has PI (proportional integral),PD (proportional-derivative), or PID (proportional-integral-derivative) structure.These schemes do not include dynamics of the manipulator. Dynamics of the manipulator can be included in, for example,computed torque control. |
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