A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System

2018 ◽  
pp. 28-39 ◽  
Author(s):  
Ololade O. Obadina ◽  
Mohamed Thaha ◽  
Kaspar Althoefer ◽  
M. Hasan Shaheed
Keyword(s):  
Robot Manipulator ◽  
Torque Control ◽  
Control Approach ◽  
Computed Torque Control ◽  
Computed Torque

scholarly journals A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System

2017 ◽  
Author(s):  
Ololade O Obadina ◽  
◽  
Julius Bernth ◽  
Kaspar Althoefer ◽  
M. Hasan Shaheed
Keyword(s):  
Robot Manipulator ◽  
Torque Control ◽  
Control Approach ◽  
Computed Torque Control ◽  
Computed Torque

416 Robot Manipulator for Computed Torque Control with Bilateral

2005 ◽  
Vol 2005.44 (0) ◽  
pp. 148-149
Author(s):  
Takuya KATOH ◽  
Satoshi TAKEZAWA ◽  
Takeshi TURUGA
Keyword(s):  
Robot Manipulator ◽  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque

scholarly journals COMPUTED TORQUE CONTROL FOR A SPATIAL DISORIENTATION TRAINER

2020 ◽  
Vol 18 (2) ◽  
pp. 269
Author(s):  
Jelena Vidaković ◽  
Vladimir Kvrgić ◽  
Mihailo Lazarević ◽  
Pavle Stepanić
Keyword(s):  
Control System ◽  
Robot Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Training System ◽  
Torque Control ◽  
Spatial Disorientation ◽  
Computed Torque Control ◽  
Computed Torque

A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feedforward control method used for tracking of robot’s time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.

An enhanced computed-torque control algorithm for robot manipulators

1998 ◽  
Vol 212 (1) ◽  
pp. 11-15 ◽  
Author(s):  
Q Li ◽  
S K Tso ◽  
A N Poo
Keyword(s):  
Control Algorithm ◽  
Internal Model Control ◽  
Torque Control ◽  
Simulation Studies ◽  
Control Approach ◽  
Computed Torque Control ◽  
Control Scheme ◽  
Model Control ◽  
Theoretical Analyses ◽  
Computed Torque

An enhanced computed-torque control approach, which is developed based on the intuitive design concept of the internal model control structure, is proposed in this paper. Both theoretical analyses and simulation studies on a two-link robot prove that the robustness of this enhanced algorithm can surpass that of the conventional computed-torque control scheme by a large extent.

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