Modelling and simulation of a manipulator joint

A substantial part of current research in robotics and automation is focussed on space robots and manipulators. In this research there is an increasing demand of simulation facilities. Test rigs of space robots/manipulators are usually very complex and expensive. In this report, a generic joint model is developed for the simulation facility of...

An introduction to robot joint control methods

A vast amount of literature exists on the subject of robot control. However, most articles are based on only a limited number of control methods. In this report the basical principles of these control methods are described. Furthermore, some advantages and disadvantages of these methods are mentioned.