An enhanced computed-torque control scheme for robot manipulators with a neuro-compensator

2002 ◽  
Author(s):  
Q. Li ◽  
A.N. Poo ◽  
M. Ang
Keyword(s):  
Robot Manipulators ◽  
Torque Control ◽  
Computed Torque Control ◽  
Control Scheme ◽  
Computed Torque

A genetic algorithm-based computed torque control for slider–crank mechanism in the ship’s propeller

2013 ◽  
Vol 228 (12) ◽  
pp. 2090-2099 ◽  
Author(s):  
Farsam Farzadpour ◽  
Hossein Faraji
Keyword(s):  
Genetic Algorithm ◽  
Position Control ◽  
Torque Control ◽  
Process Noise ◽  
Piston Cylinder ◽  
Computed Torque Control ◽  
Control Scheme ◽  
Crank Mechanism ◽  
Parameter Deviation ◽  
Computed Torque

A lot of endeavors regarding the development of slider–crank mechanism in the ship’s propeller have been made and continue to be investigated. This paper presents the position control of a slider–crank mechanism, which is driven by the piston cylinder actuator to adjust the blade pitch angle. An effective motion control strategy known as the computed torque control can ensure global asymptotic stability. However, it is essential for this control scheme to have a precise and accurate system model. Moreover, large amounts of changes in the output and even instability of process are caused by a small amount of measurement or process noise, when the derivative gain is sufficiently large. Accordingly, in order to compensate any parameter deviation and disturbances as well as minimizing errors, we have presented a genetic algorithm-based computed torque control system which adjusts the proportional-derivative gains. Computer simulations are performed which reveals that asymptotically stability is reached and it confirms the effectiveness and high tracking capability of the proposed control scheme.

Parametric Identification for a Free-Floating Base Space Manipulator

2014 ◽  
Vol 490-491 ◽  
pp. 1151-1156
Author(s):  
William Takeshi Pereira ◽  
Tatiana F.P.A.T. Pazelli
Keyword(s):  
Parametric Identification ◽  
Torque Control ◽  
Least Square ◽  
Reference Trajectory ◽  
Space Manipulator ◽  
Floating Base ◽  
Computed Torque Control ◽  
Control Scheme ◽  
Two Degree Of Freedom ◽  
Computed Torque

In this paper parametric identification algorithms are applied to estimate dynamic parameters of a space manipulator, whose model is described through the Dynamically Equivalent Manipulator approach. Gradient and least-square methods are applied in order to evaluate capability of the schemes. A sufficiently rich input signal is applied as reference trajectory for joints position, while a simple model-based PID computed torque control scheme is responsible for keeping the trajectory tracking. Simulation results for a two degree-of-freedom space manipulator have shown the effectiveness of the proposal.

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.

ROBUST $H_{\infty}$ COMPUTED TORQUE CONTROL OF ROBOT MANIPULATORS

2019 ◽  
Author(s):  
Fabian Andres Lara-Molina ◽  
Edson Hideki Koroishi ◽  
Aldemir Ap Cavalini Jr ◽  
Valder Steffen Jr
Keyword(s):  
Robot Manipulators ◽  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque
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