Mathematica 9 is now available

Wolfram Library Archive

Courseware Demos MathSource Technical Notes
All Collections Articles Books Conference Proceedings

An Efficient Calculation of Computed Torque Control of Flexible Manipulators

W. Khalil
F. Boyer
Journal / Anthology

Proceedings of the IEEE International Conference on Robotics and Automation
Year: 1995
Volume: 1
Page range: 609-614

In this paper, we propose an efficient recursive computation of the nonlinear computed torque law of flexible manipulators. The algorithm is based on the generalized Newton-Euler model of flexible manipulators and can be considered as a generalization of the computed torque control algorithm of rigid robots proposed by Luh-Walker-Paul (1980). It is programmed using Mathematica to get automatically an efficient customized symbolic model with reduced number of operations. Keywords: manipulators; torque control; nonlinear control systems; Newton method; symbol manipulation; dynamics

*Engineering > Control Theory
*Engineering > Mechanical and Structural Engineering