AN ENHANCED COMPUTED-TORQUE CONTROL ALGORITHM FOR ROBOT MANIPULATORS

Authors
LI Q TSO SK POO AN
Citation
Q. Li et al., AN ENHANCED COMPUTED-TORQUE CONTROL ALGORITHM FOR ROBOT MANIPULATORS, Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering, 212(I1), 1998, pp. 11-15
Citations number
6
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
Journal title
Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering → ACNP
ISSN journal
09596518
Volume
212
Issue
I1
Year of publication
1998
Pages
11 - 15
Database
ISI
SICI code
0959-6518(1998)212:I1<11:AECCAF>2.0.ZU;2-B
Abstract
An enhanced computed-torque control approach, which is developed based on the intuitive design concept of the internal model control structu re, is proposed in this paper. Both theoretical analyses and simulatio n studies on a two-link robot prove that the robustness of this enhanc ed algorithm can surpass that of the conventional computed-torque cont rol scheme by a large extent.