An Efficient Calculation of Computed Torque Control of Flexible Manipulators -- from Wolfram Library Archive

Title

An Efficient Calculation of Computed Torque Control of Flexible Manipulators

Authors

W. Khalil

F. Boyer

Journal / Anthology

Proceedings of the IEEE International Conference on Robotics and Automation

Year:

1995

Volume:

Page range:

609-614

Description

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

Subjects

	Engineering > Control Theory
	Engineering > Mechanical and Structural Engineering

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