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https://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 | 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 | URI: | http://scholarbank.nus.edu.sg/handle/10635/57881 | ISSN: | 09596518 |
| Appears in Collections: | Staff Publications |
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