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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.
Official source
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