A Design Example in MapleSim: Controlling a Robot using Feedback Linearization
Wednesday, August 12, 2015 02:00 PM
The way you work changes when you can access and manipulate your model’s equations. This webinar shows how to design a path following controller for a Kuka robot arm. First, the kinematic and dynamic equations are extracted from a MapleSim model. Then, Maple’s symbolic engine creates a feedback linearization controller from the model’s equations. Finally, a custom MapleSim component is created from the controller equations. The result is a sophisticated controller that can accurately track curved paths, where traditional PID-based controllers suffer from dynamic tracking errors.