1. MOTION PLANNING AND TRAJECTORY CONTROL• When there are multiple control loops that must be controlled as a group we must add higher level control techniques to plan motions and then guide single controllers. 1.1 TRAJECTORY CONTROL1.2 PATH PLANNING1.3 MOTION CONTROLLERS1.4 SPECIAL ISSUES1.5 PRACTICE PROBLEMS1.6 MICROBOT OVERVIEW1.7 CRS PLUS ROBOT OVERVIEW1.8 BASIC DEMONSTRATION STEPS |