Joint Space PD Control with Gravity Compensation

Only for registered members Canada

1 month ago

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$25 - $0 (USD) budget
To do · Design the Joint Space PD control law with gravity compensation · Whathappens if g(q) is not taken into account? · Whathappens if the gravity term is set constant and equal to g(qd) within the control · law? · Whathappens if qd is not constant (e.g. qd(t) = ¯qd +∆sin(ωt)) ...
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