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).
- Control torque method for 2 links planar robot. Solution of problem 6.12(compensated load mass) from Sciavicco's book.
- Robust Control for 2 links planar robot. Solution of problem 6.13 from Sciavicco's book.
- End effector control with Gravity compensation for 2 links planar robot. Solution of problem 6.15(compensated load mass) from Sciavicco's book.
- Resolved Rate Acceleration end effector control for 2 links planar robot. Solution of problem 6.16(compensated load mass) from Sciavicco's book.

Copyright ©2014 Carmine Lia