Multi-joint robot coordination calculates compatible trajectories for limbs and body segments that influence one another. The controller must respect joint range, speed, force and collision limits while reaching the desired pose or manipulating an object.
Small errors can accumulate across a long kinematic chain, so feedback is used to correct the motion during execution. Whole-body tasks extend this coordination to balance and contacts with the environment.
Acronyms and aliases
robot joint coordination synonymcoordinated joint control variant
General terms
Frequently asked questions
Why must robot joints be coordinated?
The end position and force of a hand or gripper result from many joint movements, and independent commands can conflict or destabilize the robot.
How does a robot correct multi-joint movement?
It compares sensor feedback with the planned pose or force and updates joint commands through a closed-loop controller.
