Nonlinear computed torque control for a high-speed planar parallel manipulator

Mechatronics ◽  
2009 ◽  
Vol 19 (6) ◽  
pp. 987-992 ◽  
Author(s):  
Weiwei Shang ◽  
Shuang Cong
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Torque Control ◽  
Computed Torque Control ◽  
Planar Parallel Manipulator ◽  
Computed Torque

scholarly journals Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

10.5772/5650 ◽  
2008 ◽  
Vol 5 (1) ◽  
pp. 14 ◽  
Author(s):  
Zhiyong Yang ◽  
Jiang Wu ◽  
Jiangping Mei ◽  
Jian Gao ◽  
Tian Huang
Keyword(s):  
Parallel Manipulator ◽  
Torque Control ◽  
Model Based ◽  
Computed Torque Control ◽  
Computed Torque

scholarly journals Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control.

2016 ◽  
Vol 5 (4) ◽  
pp. 277
Author(s):  
Jolly Atit Shah ◽  
S S Rattan
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulator ◽  
Equation Of Motion ◽  
Torque Control ◽  
Computed Torque Control ◽  
Speed Accuracy ◽  
Accuracy And Repeatability ◽  
Computed Torque

<p>Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life.            </p><p>Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on control of robot manipulator to get the desired position using combination of two classical methods PID and computed torque control method after deriving the equation of motion. For the same simulation is represented using MATLAB and compared with computed torque control method.</p>

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm

2021 ◽  
pp. 1-9
Author(s):  
G. Perumalsamy ◽  
Deepak Kumar ◽  
Joel Jose ◽  
S. Joseph Winston ◽  
S. Murugan
Keyword(s):  
Control Method ◽  
Torque Control ◽  
Robotic Arm ◽  
Computed Torque Control ◽  
Computed Torque

Fuzzy compensated computed torque control of a manipulator

1996 ◽  
Author(s):  
Seniz Ficici ◽  
Edwin M. Sawan ◽  
Behnam Bahr
Keyword(s):  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque
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