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Introduction to Robotics - Lecture 15

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Lecture 15 - Control: Operational space control and Force control

Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking

Prof. Oussama Khatib
CS223A Introduction to Robotics, Winter 2007/2008
(Stanford University: Stanford Engineering Everywhere)
Date accessed: 2009-01-21
License: Creative Commons Attribution 3.0

Lecture Material

Supplementary lecture material is listed below.

1. Handout on Control (432 KB pdf)
2. Assignment 6
3. Solutions for Assignment 6



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