Modern Robotics, All Videos - Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 3 of 3)

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See http://modernrobotics.org for information on the book, free software, and other materials. This video addresses task-space motion control of a robot, where the control inputs are the joint velocities and the desired motion of the end-effector is expressed as its configuration X in SE(3) and the end-effector velocity is expressed as a twist. The proposed control method is a feedforward plus PI feedback controller. This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos. Playlist for Chapter 11: https://www.youtube.com/playlist?list=PLggLP4f-rq02N54sD6xwdDWlDScvb32Pp Playlist for all book videos: https://www.youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx YouTube channel with all playlists: https://www.youtube.com/user/kevinl2145 Wiki for the book, including software and other supplements: http://modernrobotics.org Modern Robotics is now a series of online courses on Coursera! https://www.coursera.org/specializations/modernrobotics