41.3 ACTUATORS
There are a large number of power sources that may be used for robots.
Typical actuators include,
- simple, low maintenance
- hard to do continuous control
- high power/weight ratio
Actuators lead to various payload capabilities as shown in the following list.
41.3.1 Modeling the Robot
If modeling only one link in motion, the model of the robot can treat all the links as a single moving rigid body,
If multiple joints move at the same time, the model becomes non-linear, in this case there are two approaches taken,
1. Develop a full non-linear controller (can be very complicated).
2. Develop linear approximations of the model/control system in the middle of the normal workspace.
