ABSTRACT
This chapter describes the synthesis of basic control of manipulation robots. Control systems of robots can be realized in different ways. Historically speaking, different open-loop control systems were applied to control the first manipulation robots. Most modern robots are equipped with control systems that enable direct specification of the Cartesian coordinates. Modern industry and other application domains are assigning more and more complex tasks to robots. The basic function of the task layer is to transform the process-oriented input tasks into device-oriented actions of robot. The action layer serves to transform the device-oriented action instructions from the task layer into control commands to the actuator and sensor hardware. The chapter focuses on the problems related to the synthesis of the executive control level, i.e., the actuator control module in functional reference model. It considers a simple case when a single joint of the robot is moving while all other joints are fixed.
