The accurate position and motion control of the end-effector for robot execution is an important research direction of robot control. Based on the computed torque model, a Proportional-Integral-Derivative computed torque control (PID-CTC) method is introduced, in order to describe the process of implementing the end position control strategy for the robot manipulator. Compared with the traditional position control method, the computed torque control method can better handle the nonlinear problem when the parameters all known. Compared with the response and tracking performance of the robot manipulator to the two input trajectories, the results show that the PID-CTC control effect has low error and high accuracy, which is an efficient motion control method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Motion Control and Simulation Analysis of a Manipulator Based on Computed Torque Control Method


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Feng, Changqian (Autor:in) / Chen, Zhengcang (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    21.10.2023


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Motion Control and Simulation Analysis of a Manipulator Based on Computed Torque Control Method

    Feng, Changqian / Chen, Zhengcang / Jin, Weiqing et al. | TIBKAT | 2023


    Performance Analysis of the Computed Torque Based Active Force Control for a Planar Parallel Manipulator

    Noshadi, A. / Zolfagharian, A. / Mailah, M. | British Library Conference Proceedings | 2012




    Torque Unit Manipulator Driven by Control Moment Gyros

    Hokamoto, S. / American Astronomical Society | British Library Conference Proceedings | 1997