Basic Control Architecture
The software elements of the a basic control architecture are as follows:
- The Instruction library for high level orders (GoToPoint(),Start(), Stop(),…
- The Control loop, this loop is the most important and most critical in determinism. It assures the functions of reading sensors, computes motor torques (or forces) and send the control value to the motor through the amplifiers.
- The trajectorygeneration gives the desired articular targets by using the coordinate transformation (Geometric model)