scholarly journals Trajectory Tracking Controls of a Mobile Robot with Two Independent Drive Wheels. Comparative Experiments Between the Computed Torque Control and the Fuzzy Control.

1996 ◽  
Vol 14 (2) ◽  
pp. 217-224 ◽  
Author(s):  
Jun Tang ◽  
Keigo Watanabe ◽  
Masatoshi Nakamura
Keyword(s):  
Fuzzy Control ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque

scholarly journals Obstacle Avoidance Using CTC and Virtual Structure for Leader-Follower Formation on Mobile Robot

2021 ◽  
Vol 5 (2) ◽  
Author(s):  
Maskhur Zulkarnain ◽  
Trihastuti Agustinah
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Small Error ◽  
Torque Control ◽  
Reference Trajectory ◽  
Robot Trajectory ◽  
Computed Torque Control ◽  
Robot Position ◽  
Computed Torque

This research examined the development of the combination of virtual structure and leader-follower as an obstacle avoidance method in the formation control of a mobile robot. The formation of the robots are designed with the Separation Bearing Control (SBC) approach between the leader robot (RL) and the virtual robot (RV). The virtual robot is used as a virtual follower and a reference trajectory for the follower  robot (RF). When the follower robot detects an obstacle, the follower robot trajectory is adjusted using a trajectory planner for obstacle avoidance. After passing the obstacle, the follower robot will track its position back in formation using virtual robot position and heading as reference. Leader robot and follower are perturbed by disturbances. In order to ensure the achievement of small error tracking, a controller is designed using the integration of kinematic and dynamics controllers with disturbance observer. The kinematic and dynamics controllers are designed using input-output linearisation (IOL) method and computed torque control (CTC). The effectiveness of the proposed method is verified by the simulation result.Keywords: CTC, leader follower, obstacle avoidance, SBC, virtual structure. 

Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators

Robotica ◽  
1991 ◽  
Vol 9 (3) ◽  
pp. 319-326 ◽  
Author(s):  
Devendra P. Garg
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Nonlinear Dynamic ◽  
Torque Control ◽  
Control Action ◽  
Relative Importance ◽  
Computed Torque Control ◽  
Torque Control Strategy ◽  
Computed Torque

SUMMARYThis paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive computed torque control strategy is illustrated. The influence of variations in payload and robot parameters on trajectory tracking is also shown.

scholarly journals Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880173 ◽  
Author(s):  
Chao Chen ◽  
Chengrui Zhang ◽  
Tianliang Hu ◽  
Hepeng Ni ◽  
WeiChao Luo
Keyword(s):  
Trajectory Tracking ◽  
Robotic Manipulators ◽  
State Observer ◽  
Torque Control ◽  
Extended State Observer ◽  
Effective Control ◽  
Extended State ◽  
Uncertain Dynamics ◽  
Computed Torque Control ◽  
Computed Torque

Computed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics. Thus, a new scheme that combines a computed torque control and a novel model-assisted extended state observer is developed for the robust tracking control of robotic manipulators subject to structured and unstructured uncertainties to overcome the disadvantages of computed torque control and exploit its merits. The model-assisted extended state observer is designed to estimate and compensate these uncertain dynamics as a lumped disturbance online, which further improves the disturbance rejection property of a robotic system. Global uniform ultimate boundedness stability with an exponential convergence of a closed-loop system is verified through Lyapunov method. Simulations are performed on a two degree-of-freedom manipulator to verify the effectiveness and superiority of the proposed controller.

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
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