joint space control
A traditional control approach that commands each individual motor to achieve specific angles. Uses proportional-integral-derivative (PID) controllers to drive each joint independently. Common in industrial robots.
Joint space control is a traditional robotic control approach that commands each individual motor independently, using proportional-integral-derivative (PID) controllers to drive each joint toward desired angles. Rather than specifying end-effector motion, the controller focuses on achieving precise joint configurations, making it straightforward to implement while maintaining excellent tracking accuracy.
Simple idea: Tell each robot joint "go to this angle," and let independent PID controllers handle the details for each joint simultaneously.
Share: