This paper presents a robust control method for the trajectory of robotic manipulator. The standard Computed Torque Control (CTC) is an important in systems but its not to system uncertainty and external disturbance. proposed overcome disturbance problems. In this paper, robustification term has been added CTC. stability approved by Lyapunov theorem. performance presented controller tested MATL...

This paper presents a novel dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient reinforcement learning with fuzzy evaluative feedback . The proposed structure of controller involves two feedback loops: conventional computed torque controller including impact-force controller and reinforcement learning computed torque controller. Reinforcement learnin...

Computed torque controller (CTC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of h ighly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, computed torque controller is used in many applications; it has an important drawback namely; nonline...

Efficient control of robotic manipulators is an important industrial problem, and this paper proposes the use of artificial neural networks as a possible solution. The computed torque control scheme in particular is examined, and neural networks are used for the task of modelling the robotic manipulators. This scheme is applied to a two axis robot, whose feedback is corrupted by noise. The comp...

The control of legged robots ean be inspired from how biological systems (living creatures) control movements. In this paper, an oscillator-based gait rhythm generator is designed, and a computed torque controller implements the movement of a four-link robot leg. The coupled oscillator network generates trajectories of the hip, knee, and ankle joint angles resulting in a gait similar to that of...

This paper considers the problem of the robot motion control in the presence of the major uncertainties such as it is varying load. Efficiency of one conventional and two soft computing model based control algorithms is investigated and compared trough the results of application on a direct drive robot. First control algorithm is a conventional computed torque based on the Lagrangian dynamic eq...