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 [ Ссылка ] for information on the book, free software, and other materials.
This video introduces linear error response, where the error dynamics are represented by a linear ordinary differential equation, which can also be represented as a set of coupled first-order differential equations, xdot = Ax. Stability of the error dynamics is achieved if the real components of the eigenvalues of A are all negative, or, equivalently, if the real components of the roots of the characteristic equation of A are all negative. One purpose of a controller is to ensure that all of these roots have a negative real component.
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: [ Ссылка ]
Playlist for all book videos: [ Ссылка ]
YouTube channel with all playlists: [ Ссылка ]
Wiki for the book, including software and other supplements: [ Ссылка ]
Modern Robotics is now a series of online courses on Coursera! [ Ссылка ]
