Title :
Simulation of computed torque controllers for flexible manipulators
Author :
Looke, T.D. ; Bayoumi, M.M. ; Farooq, M.
Author_Institution :
Dept. of Electr. & Comput. Eng., R. Mil. Coll., Kingston, Ont., Canada
Abstract :
A finite element technique has been exploited to develop a general-purpose simulation model to test computed torque control algorithms for multilink, flexible manipulators with revolute joints. The methodology for using this simulation tool to test flexible robot joint controllers is presented along with specific simulation results showing the response of one- and two-link flexible manipulators to the computed torque control algorithms developed
Keywords :
controllers; digital simulation; manipulators; torque control; computed torque controllers; finite element technique; flexible manipulators; multilink manipulators; revolute joints; simulation model; simulation results; simulation tool; torque controller testing; Actuators; Computational modeling; Control systems; Equations; Error correction; Manipulators; Polynomials; Robot kinematics; Stators; Torque control;
Conference_Titel :
Circuits and Systems, 1991., Proceedings of the 34th Midwest Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-0620-1
DOI :
10.1109/MWSCAS.1991.252206
