Explanation of all experiments

Controller types

The control experiments below were conducted using  a C-based simulator. The following controller types were available:

Robot types:

In each case, the second of three available manipulators was chosen for the trajectory following experiments -- namely,  a two-link robot manipulator with cylindrical links:

Explanations

For the simulation plots, the red lines correspond to joint #1 of the robot, while the blue lines correspond to joint #2. For the simulation animations, the yellow robot arm indicates the desired trajectory, while the blue robot arm indicates the actual trajectory.

Created by Mathematica  (November 18, 2003)