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 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

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.

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.

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