Chapter 9: Robot Control Systems: Control Architectures (Open Loop, Closed Loop, Hybrid)
Abstract : In robot control systems, "open loop" refers to a control architecture where the robot executes a pre-programmed motion without any feedback from its environment, while "closed loop" uses sensory information to continuously adjust its actions based on the current state, and "hybrid" combines aspects of both open and closed loop control depending on the situation ; essentially, open loop for fast initial movements and closed loop for precise adjustments. Explanation: Open Loop Control: How it works: The robot receives a command and executes it without checking if the desired outcome is achieved. Example: A robot arm moving to a pre-defined position at a set speed without checking its actual location during movement. Advantages: Simple to implement, fast for basic tasks. Disadvantages: Vulnerable to external disturbances, cannot adapt to unexpected changes in the environment. Closed Loop Con...