Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller’s feedback gains resulting in disturbance attenuation and other advantages. Finding precise models for manipulators is often difficult with parametric approaches, e.g. in the presence of complex friction or flexible links. Therefore, we ...

To overcome the disadvantages of conventional computed‐torque control and fuzzy control, and to exploit their attractive features, this paper proposes two types of adaptive control scheme combining conventional computed‐torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured unce...

This study applies CT-based structural rigidity analysis (CTRA) to assess failure torque of rat femurs with simulated lytic defects at different locations (proximal and distal femur) and diameters (25% and 50% of the cross-section at the site), and compared the results to those obtained from mechanical testing. Moreover, it aims to compare the correlation coefficients between CTRA-based failure...

Robots are highly nonlinear and chaotic in position control. The present paper mainly presents the position control of PUMA-560 Robot manipulator. Computed torque controller (CTC) is one of the solutions for position control of robot manipulators. The main drawback of controller is that it fails to operate under different dynamic operating conditions. To overcome this difficulty, intelligent co...

Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...

This paper presents a unified robust motion control scheme for robot manipulators in state space. The controller design task is carried out based on feedforward control sketch in state space framework with no need to the Computed Torque Control (CTC) which is usually used in many other control approaches. In the proposed approach, the load torque and some other uncertainties in the linear model...

The serial mechanism is driven by pneumatic muscle actuators (PMA) and used the tendon transmission structure. Between the various joints, the torque coupling and the location coupling seriously affect the control performance. By analyzing the location equation of tendons, a matrix which can describe the coupling is obtained. Combined with the model of PMA, the dynamic equation of the coupled s...

Robots are used in different applications to enhance human performance and in the future, these interactions will become more frequent. In order to achieve this human augmentation, the cooperation must be very intuitive to the human operator. This paper proposes a computed-torque control scheme for pHRI using admittance control. The admittance model is first introduced. Then, the robot identifi...

A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed con...