Lecture
This lecture covers the role of P, D, and I parameters in robotics control, focusing on proportional, derivative, and integrator gains. It explains how these gains affect control torque, system stability, response time, and robustness. The lecture also delves into encoders, resolution, and the tuning of PID parameters for optimal performance. Different control strategies, such as cascaded controllers and centralized controllers, are discussed, along with the compensation of known dynamics and non-linearities. The importance of dynamic models, state models, and control design in achieving precise motor control is emphasized.