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 CONTROL

1.2 PATH PLANNING

1.3 MOTION CONTROLLERS

1.4 SPECIAL ISSUES

1.5 PRACTICE PROBLEMS

1.6 MICROBOT OVERVIEW

1.7 CRS PLUS ROBOT OVERVIEW

1.8 BASIC DEMONSTRATION STEPS