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|Title:||An enhanced computed-torque control algorithm for robot manipulators|
|Keywords:||Computed-torque control (CTC)|
Internal model control (IMC)
|Citation:||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|
|Appears in Collections:||Staff Publications|
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