[Avery Andrews 931212.]
(John Gardner (931128.2000 EST))
Now that John Gardner is back and hopefully listening:
> It is fairly easy to set up a
>kinematic simulation of a given geometry and then 'construct' by trail
>and error, a way to map preceptions (am I using the right terms
>here? I don't want to get Rick all excited) to joint torques in such a
>way as to reduce errors.
Another (and, I suspect, more accurate) description of Bill's method
than `trial and error' would be `think about the concrete case at hand
and find ways of exploiting its special properties to produce a simple
solution'. In the case of the arm, for example, the elbow-flexion df is
the only way to to vary the shoulder-wrist distance, so there's no need
to mess around with Jacobian components, which sometimes point in
useless directions anyway.
PCT says that control will be easier to achieve if the controller has
the right perceptions - figuring out what these are is not necessarily
so easy.
Avery.Andrews@anu.edu.au