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🎛️ Control

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The Control sublibrary provides classes for real-time feedback control of robots. At present it is only capable of handling serial link robot arms.

The classes build upon the Model sublibrary and provide a seamless API to optimise the control of robots subject to actuator constraints. It is designed to integrate with the Trajectory sublibrary where you can easily generate and pass reference trajectories to the controller.

  graph TD
    Math -- "Provides support functions" --> Control
    Control -- "Utilises" --> Model
    Trajectory -- "Generates references for" --> Control
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Serial Link Robots

There are currently 2 classes available for control of serial link robotics, with a base class providing a standardised structure and API:

  • SerialLinkBase: A base class providing a standardised interface for all serial link control classes.
  • SerialLinkImpedance: Computes inertia-free joint and Cartesian impedance control.
  • SerialLinkKinematic: For joint trajectory tracking, and Cartesian velocity control (resolved motion rate control).
  • SerialLinkDynamic: Under construction 🏗️.
  graph TD

      SerialLinkBase ---> SerialLinkImpedance
      SerialLinkBase ---> SerialLinkDynamic
      SerialLinkBase ---> SerialLinkKinematic
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