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An Efficient Calculation of Computed Torque Control of Flexible Manipulators
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| Proceedings of the IEEE International Conference on Robotics and Automation |
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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
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