Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/57881
Title: An enhanced computed-torque control algorithm for robot manipulators
Authors: Li, Q.
Tso, S.K.
Poo, A.N. 
Keywords: Computed-torque control (CTC)
Internal model control (IMC)
Robot manipulators
Issue Date: 1998
Source: Li, Q.,Tso, S.K.,Poo, A.N. (1998). 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 (1) : 11-15. ScholarBank@NUS Repository.
Abstract: 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. © IMechE 1998.
Source Title: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
URI: http://scholarbank.nus.edu.sg/handle/10635/57881
ISSN: 09596518
Appears in Collections:Staff Publications

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