Lecture

Robotics Control: Cascaded Controllers and Dynamic Models

Description

This lecture covers the tuning of PID parameters, cascaded controllers in industrial drives, non-linearities and dynamic compensation, and the dynamic model of an axis. It also discusses the role of controllers in finding the appropriate torque for desired movements and the importance of combining a priori torque with controllers. The concept of centralized control, considering couplings, and non-linear compensation through linearizing controllers is also explained.

Instructor

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Official source

https://mediaspace.epfl.ch/media/0_d2u7qp16

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Ontological neighbourhood

Mechanical engineering

Robotics: Topics in robotics

Electrical engineering

Electronic engineering: Power electronics

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