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Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/57881
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dc.titleAn enhanced computed-torque control algorithm for robot manipulators
dc.contributor.authorLi, Q.
dc.contributor.authorTso, S.K.
dc.contributor.authorPoo, A.N.
dc.date.accessioned2014-06-17T05:08:24Z
dc.date.available2014-06-17T05:08:24Z
dc.date.issued1998
dc.identifier.citationLi, 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.
dc.identifier.issn09596518
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/57881
dc.description.abstractAn 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.
dc.sourceScopus
dc.subjectComputed-torque control (CTC)
dc.subjectInternal model control (IMC)
dc.subjectRobot manipulators
dc.typeArticle
dc.contributor.departmentMECHANICAL & PRODUCTION ENGINEERING
dc.description.sourcetitleProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
dc.description.volume212
dc.description.issue1
dc.description.page11-15
dc.description.codenPMJEE
dc.identifier.isiutNOT_IN_WOS
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