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4.5 Digital Robot Control 231
Figure 4.5–4: Subroutines for use with TRESP for digital CT control.
discretizing that controller are demonstrated. There are two objectives.
First, we show the effects of sampling on the CT controller. Then a practical
digital controller is designed that uses only joint position measurements
from an encoder, reconstructing the velocities needed for computing the
control law.
Copyright © 2004 by Marcel Dekker, Inc.
