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Abstract: In robot control systems,  "path planning" refers to determining the geometric route a robot should take to reach a target location, avoiding obstacles, while "trajectory planning" takes that path and adds the timing information, defining the speed and acceleration at each point along the path to ensure smooth and controlled movement .   Key points about path planning: Focus on geometry:  Primarily concerned with finding a collision-free path between a starting point and a goal point, considering the robot's workspace and obstacles.   Algorithms used:  Popular algorithms include A* search, Dijkstra's algorithm, Rapidly-exploring Random Trees (RRT), and potential field methods.   Output:  A sequence of waypoints (positions) that the robot needs to follow.   Key points about trajectory planning: Time-based motion: Adds time information to the path, specifying velocity and acceleration profiles at each point along the path. ...

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...

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...