01
Dynamics
Dynamics relates forces and torques to the resulting motion. Robot dynamics depend on mass, inertia, configuration, velocity, gravity, friction, and external interaction.
M(q)q̈ + C(q,q̇)q̇ + g(q) + τ_f = τ + τ_ext
02
Feedback Control
Feedback control continuously compares desired and measured behavior and modifies actuator commands to reduce error.
u(t) = K_p e(t) + K_i ∫e(t)dt + K_d de(t)/dt
PID control is widely used because it is conceptually simple and robust for many low-level control problems. More advanced robots may use computed-torque control, impedance control, model predictive control, or nonlinear control.
03
Interaction Control
- Position control prioritizes geometric tracking.
- Force control regulates contact forces.
- Impedance control regulates a desired dynamic relationship between motion and force.
- Hybrid force-motion control separates constrained and unconstrained directions.