Chapter 10: Robot Control Systems:Joint Space Control and Task Space Control
Abstract: In robot control systems, "joint space control" refers to directly controlling the position and movement of each individual joint of a robot, while "task space control" involves commanding the robot's end-effector position and orientation in the desired workspace, where the robot needs to perform a task, regardless of the specific joint angles required to achieve it ; essentially, controlling the robot in terms of its "world coordinates" rather than its internal joint angles. Key Differences: Perspective: Joint space control focuses on the robot's internal configuration (joint angles), while task space control focuses on the robot's external behavior (end-effector position and orientation). Implementation: Joint space control: Requires calculating the desired joint angles based on the desired task, often using inverse kinematics calculations. Task space control: Directly specifies the desired end-effector position...