JRoboOp

• Main page
• Overview
  • Inverse kinematics
  • Controllers
• Java classes
• Download
• Demo

Overview - Controllers

This page shows the control functions implemented in JRoboOp.

• Proportional derivative control with gravity compensation for 2 links planar robot. Solution of problem 6.10 from «Modelling and Control of Robot Manipulators» by Sciavicco, Siciliano(2nd Edition).
  • java source of proportional derivative control
  • output plot of proportional derivative control
  • the  XML 2 links planar robot configuration file.
• Control torque method for 2 links planar robot. Solution of problem 6.12(compensated load mass) from Sciavicco's book.
  • java source of control torque method
  • output plot of control torque method
  • the  XML 2 links planar robot configuration file with load.
• Robust Control for 2 links planar robot. Solution of problem 6.13 from Sciavicco's book.
  • java source of robust control
  • output plot of robust control
• End effector control with Gravity compensation for 2 links planar robot. Solution of problem 6.15(compensated load mass) from Sciavicco's book.
  • java source of gravity compensation control
  • output plot of gravity compensation control
• Resolved Rate Acceleration end effector control for 2 links planar robot. Solution of problem 6.16(compensated load mass) from Sciavicco's book.
  • java source of resolved rate acceleration control
  • output plot of resolved rate acceleration control