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Journal articles on the topic 'PD Computed Torque Control'

Author: Grafiati

Published: 4 June 2025

Last updated: 1 August 2025

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1

Rahmani, Mehran, and Ahmad Ghanbari. "Computed Torque Control of a Caterpillar Robot Manipulator Using Neural Network." Advanced Engineering Forum 15 (February 2016): 106–18. http://dx.doi.org/10.4028/www.scientific.net/aef.15.106.

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This paper presents a neural computed torque controller, which employs to a Caterpillar robot manipulator. A description to exert a control method application neural network for nonlinear PD computed torque controller to a two sub-mechanisms Caterpillar robot manipulator. A nonlinear PD computed torque controller is obtained via utilizing a popular computed torque controller and using neural networks. The proposed controller has some advantages such as low control effort, high trajectory tracking and learning ability. The joint angles of two sub-mechanisms have been obtained by using the numer

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2

Meddahi, Y., and K. Zemalache Meguenni. "PD-computed torque control for an autonomous airship." IAES International Journal of Robotics and Automation (IJRA) 8, no. 1 (2019): 44. http://dx.doi.org/10.11591/ijra.v8i1.pp44-51.

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For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an env

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3

Meddahi, Y., and K. Zemalache Meguenni. "PD-computed torque control for an autonomous airship." IAES International Journal of Robotics and Automation (IJRA) 8, no. 1 (2019): 44–51. https://doi.org/10.11591/ijra.v8i1.pp44-51.

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For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an env

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Meddahi, Youssouf, K. Zemalache Meguenni, and Aoued3 H. "The nonlinear computed torque control of a quadrotor." Indonesian Journal of Electrical Engineering and Computer Science 20, no. 3 (2020): 1221–29. https://doi.org/10.11591/ijeecs.v20.i3.pp1221-1229.

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This paper work focused on the study of the nonlinear computed torque control of a quadrotor helicopter. In order to model the dynamic of the vehicles, kinematics and dynamics modeling of the X4 is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the quadrotor to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation. Results show that Computed Torque control method is suitabl

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Guo, Tong Ying, Jie Jia Li, and Hai Chen Wang. "Research on Grinding Robot for Trajectory Control Based on Computed Torque." Applied Mechanics and Materials 58-60 (June 2011): 2392–95. http://dx.doi.org/10.4028/www.scientific.net/amm.58-60.2392.

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In this paper, in order to achieve high-precision trajectory control of grinding robot, the method of computed torque control is proposed based on PD feedback, a single-joint robot experimental platform was built, position and velocity tracking experiment is carried out with empty Load and load. Experimental results show that the method of computed torque based on PD feedback control has the characteristic of quick response speed and small position tracking error.

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Abdel-Salam, Abdel-Azim S., and Ibrahim N. Jleta. "Fuzzy logic controller design for PUMA 560 robot manipulator." IAES International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 73. http://dx.doi.org/10.11591/ijra.v9i2.pp73-83.

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The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on sim

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Abdel-Salam, Abdel-Azim S., and Ibrahim N. Jleta. "Fuzzy logic controller design for PUMA 560 robot manipulator." International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 73–83. https://doi.org/10.11591/ijra.v9i2.pp73-83.

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The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on sim

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8

Abdalla, Turki, and Basil Jasim. "Fuzzy-neural network compensator for Robot manipulator controlled by PD-like fuzzy system." Iraqi Journal for Electrical and Electronic Engineering 8, no. 8 (2012): 35–44. http://dx.doi.org/10.37917/ijeee.8.1.4.

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In this paper, high tracking performance control structure for rigid robot manipulator is proposed. PD-like Sugano type fuzzy system is used as a main controller, while fuzzy-neural network (FNN) is used as a compensator for uncertainties by minimizing suitable function. The output of FNN is added to the reference trajectories to modify input error space, so that the system robust to any change in system parameters. The proposed structure is simulated and compared with computed torque controller. The simulation study has showed the validity of our structure, also showed its superiority to comp

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9

Verma, Varnita, A. Gupta, M. K. Gupta, and P. Chauhan. "Performance estimation of computed torque control for surgical robot application." Journal of Mechanical Engineering and Sciences 14, no. 3 (2020): 7017–28. http://dx.doi.org/10.15282/jmes.14.3.2020.04.0549.

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In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SC

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10

Santibañez, Victor, and Rafael Kelly. "PD control with feedforward compensation for robot manipulators: analysis and experimentation." Robotica 19, no. 1 (2001): 11–19. http://dx.doi.org/10.1017/s0263574700002848.

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One of the simplest and natural appealing motion control strategies for robot manipulators is the PD control with feedforward compensation. Although successful experimental tests of this control scheme have been published since the beginning of the eighties, the proof of global asymptotic stability has remained unattended until now. The contribution of this paper is to prove that global asymptotic stability can be guaranteed provided that the proportional and derivative gains are adequately selected. The performance of the PD control with feedforward compensation evaluated on a two degrees-of-

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Urrea, Claudio, John Kern, and Víctor Torres. "Design, Simulation, and Comparison of Advanced Control Strategies for a 3-Degree-of-Freedom Robot." Applied Sciences 14, no. 23 (2024): 11010. http://dx.doi.org/10.3390/app142311010.

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This study presents the design, simulation, and comparative analysis of three advanced control strategies applied to a 3-Degree-of-Freedom (DoF) robot manipulator. The controllers investigated are a variant from the Computed Torque Control family, a Proportional–Derivative–Integral with fuzzy logic (PD-PI + fuzzy) controller, and a Model Predictive Control (MPC) scheme. The controller performance is evaluated through the tracking of predefined trajectories in the three-dimensional space. The results are analyzed through XYZ coordinate motion graphs and 3D trajectories. To quantify performance,

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He, J. F., H. Z. Jiang, D. C. Cong, Zheng Mao Ye, and Jun Wei Han. "A Survey on Control of Parallel Manipulator." Key Engineering Materials 339 (May 2007): 307–13. http://dx.doi.org/10.4028/www.scientific.net/kem.339.307.

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Based on extensive study on literatures of control of parallel manipulators and serial manipulators, control strategies such as computed torque control, PD+ control, PD with feedforward compensation, nonlinear adaptive control are classified into two categories: model-based control and performance-based control. Besides, as advanced control strategies, robust control and passivity-based control for the parallel manipulators are also introduced. Comparative study in view of computation burden and tracking performance are performed. It turned out that the physical structure properties of paralle

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13

Song, Xiaogang, Yongjie Zhao, Chengwei Chen, Liang’an Zhang, and Xinjian Lu. "A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot." Robotica 39, no. 9 (2021): 1575–87. http://dx.doi.org/10.1017/s0263574720001368.

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SUMMARYIn this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this st

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14

Habiba, Benzater, and Chouraqui Samira. "PUMA 560 Trajectory Control Using NSGA-II Technique with Real Valued Operators." International Journal of Soft Computing, Mathematics and Control (IJSCMC), 3, no. 3 (2014): 13 to 32. https://doi.org/10.5281/zenodo.3900984.

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In the industry, Multi-objectives problems are a big defy and they are also hard to be conquered by conventional methods. For this reason, heuristic algorithms become an executable choice when facing this kind of problems. The main objective of this work is to investigate the use of the Non-dominated Sorting Genetic Algorithm II (NSGA-II) technique using the real valued recombination and the real valued mutation in the tuning of the computed torque controller gains of a PUMA560 arm manipulator. The NSGA-II algorithm with real valued operators searches for the controller gains so that the six I

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15

Alwan, Hassan Mohammad, and Zaid Hikmat Rashid. "Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist." Al-Khwarizmi Engineering Journal 15, no. 2 (2019): 13–23. http://dx.doi.org/10.22153/kej.2019.12.001.

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Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration. Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and

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Fu, Qiang, Chunpeng Pan, and Lei Xu. "Research on the Nonlinear Computer Torque control of the MR Damper Based Above-knee Prosthesis." MATEC Web of Conferences 267 (2019): 02009. http://dx.doi.org/10.1051/matecconf/201926702009.

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Aiming at the motion track controlling of the semi-active magnetorheological damper based above-knee prosthesis (MRAKP), according to the LaSalle’s invariant set theorem, a kind of nonlinear compute torque (NCT) control law for the track controlling of the AKMR, is proposed to promote the robustness and performance of the intelligent above-knee prosthesis. The proposed NCT controller includes the feedforward control and the feedback control. The former one is used to compensate the nonlinear terms in the dynamic model of the MRAKP, such as the Coriolis force, the centripetal force, and the gra

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Xiong, Gen-Liang, Hai-Chu Chen, Jing-Xin Shi, and Fa-Yun Liang. "Joint torque control of flexible joint robots based on sliding mode technique." International Journal of Advanced Robotic Systems 16, no. 3 (2019): 172988141984671. http://dx.doi.org/10.1177/1729881419846712.

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For robots with flexible joints, the joint torque dynamics makes it difficult to control. An effective solution is to carry out a joint torque controller with fast enough dynamic response. This article is dedicated to design such a torque controller based on sliding mode technique. Three joint torque control approaches are proposed: (1) The proportional-derivative (PD)-type controller has some degree of robustness by properly selecting the control gains. (2) The direct sliding mode control approach which fully utilizes the physical properties of electric motors. (3) The sliding mode estimator

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18

Qu, Zhihua, Darren M. Dawson, John F. Dorsey, and John D. Duffie. "Robust estimation and control of robotic manipulators." Robotica 13, no. 3 (1995): 223–31. http://dx.doi.org/10.1017/s0263574700017756.

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SummaryFor the trajectory following problem of a robot manipulator, a robust estimation and control scheme which requires only position measurements is proposed to guarantee uniform ultimate bounded stability under significant uncertainties and disturbances in the robot dynamics. The scheme combines a class of robust control laws with a robust estimator where the robust control law can be chosen to be either a modification of the standard computed torque control law or simply a linear and decentralized “PD” control law. The proposed robust estimator is also linear and decentralized for easy im

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19

Mu, Zonggao, Tianliang Liu, Wenfu Xu, Yunjiang Lou, and Bin Liang. "Dynamic feedforward control of spatial cable-driven hyper-redundant manipulators for on-orbit servicing." Robotica 37, no. 1 (2018): 18–38. http://dx.doi.org/10.1017/s026357471800084x.

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SUMMARYThe hyper-redundant manipulators are suitable for working in the constrained on-orbit servicing environment due to the extreme flexibility. However, its modelling and control are very challenging due to the characteristics of non-linearity and strong coupling. In this paper, considering the multi-level mapping among the motors, cables, joints, and end-effector, a proportional derivative (PD) with dynamic feedforward compensation control system is designed. The corresponding control system is divided into five parts: controller, planner, actuator, manipulator, and sensor. The actual cont

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20

Jiesinuer, Ayibule, Pan Shangfeng, and Cheng Yang. "Research on a 3-DOF Planar Cable-Driven Parallel Robot Based on Fuzzy Adaptive PD Computed Torque Control." Journal of Physics: Conference Series 1986, no. 1 (2021): 012124. http://dx.doi.org/10.1088/1742-6596/1986/1/012124.

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Mashud, Gazi, SK Hasan, and Nafizul Alam. "Advances in Control Techniques for Rehabilitation Exoskeleton Robots: A Systematic Review." Actuators 14, no. 3 (2025): 108. https://doi.org/10.3390/act14030108.

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This systematic review explores recent advancements in control methods for rehabilitation exoskeleton robots, which assist individuals with motor impairments through guided movement. As robotics technology progresses, precise, adaptable, and safe control techniques have become accessible for effective human–robot interaction in rehabilitation settings. Key control methods, including computed torque and adaptive control, excel in managing complex movements and adapting to diverse patient needs. Robust and sliding mode controls address stability under unpredictable conditions. Traditional approa

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22

Dai, Mingguang, Rong Qi, Yiyun Zhao, and Yang Li. "PD-Type Iterative Learning Control with Adaptive Learning Gains for High-Performance Load Torque Tracking of Electric Dynamic Load Simulator." Electronics 10, no. 7 (2021): 811. http://dx.doi.org/10.3390/electronics10070811.

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To realize the high-performance load torque tracking of an electric dynamic load simulator system with random measurement noises and strong position disturbances, a PD-type iterative learning control (ILC) algorithm with adaptive learning gains is proposed in this paper. With the principle of system analyzing, a nonlinear discrete state-space model is established. The adaptive learning gains is used to suppress the effects of periodic disturbances and random measurement noises on the load torque tracking performance. A traditional PD feedback controller in parallel with the proposed ILC is des

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Bae, Jin-Hyeok, and Jung-Yup Kim. "Position Tracking Control of 4-DOF Underwater Robot Leg Using Deep Learning." Applied Sciences 14, no. 3 (2024): 1031. http://dx.doi.org/10.3390/app14031031.

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This paper presents a novel hybrid control method for position tracking of an underwater quadruped walking robot. The proposed approach combines an existing position-tracking control method with a deep-learning neural network. The neural network compensates for non-linear dynamic characteristics, such as the effect of fluid, without relying on mathematical modeling. To achieve this, a Multi-Layer Perceptron neural network is designed to analyze joint torque in relation to the joint angle and angular velocity of the robot, as well as the position and orientation of the foot tip and environmenta

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ASGARI, MOHSEN, and MAHDI A. ARDESTANI. "DYNAMICS AND IMPROVED COMPUTED TORQUE CONTROL OF A NOVEL MEDICAL PARALLEL MANIPULATOR: APPLIED TO CHEST COMPRESSIONS TO ASSIST IN CARDIOPULMONARY RESUSCITATION." Journal of Mechanics in Medicine and Biology 15, no. 04 (2015): 1550051. http://dx.doi.org/10.1142/s0219519415500517.

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In cardiopulmonary resuscitation (CPR), in practice, the rescuer usually uses two hands to perform the action of chest compressions. During chest compressions action, the two arms of the rescuer actually constitute a parallel mechanism. Inspired by this performance, this paper presents a novel structure of parallel manipulators from Delta robot family for chest compressions in rescuing a patient. Also, two new control methodologies are applied to track the desired trajectory. Based on one supervisory approach and another one based upon adaptive neuro-fuzzy inference system (ANFIS) approach. In

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Jing, Benqin, Xuanju Dang, Zheng Liu, and Jianbo Ji. "Torque Ripple Suppression of Switched Reluctance Motor with Reference Torque Online Correction." Machines 11, no. 2 (2023): 179. http://dx.doi.org/10.3390/machines11020179.

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High torque ripple dramatically affects the switched reluctance motor (SRM) application. To reduce the torque ripple, a reference torque neural network (RTNN) is proposed to adjust the reference torque online. Firstly, the RTNN is built on the torque sharing function (TSF) method. Furthermore, the RTNN is designed as a single-input and -output network. As the periodic relationship between the torque ripple and the rotor angle, the rotor angle constitutes the central node parameter of the implicit function in RTNN. Therefore, one-step adjustment of the RTNN can perform well at restraining refer

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Rodriguez, Jonathan, Herman Castañeda, and J. L. Gordillo. "Design of an Adaptive Sliding Mode Control for a Micro-AUV Subject to Water Currents and Parametric Uncertainties." Journal of Marine Science and Engineering 7, no. 12 (2019): 445. http://dx.doi.org/10.3390/jmse7120445.

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This paper addresses the design of an adaptive sliding mode control for an autonomous underwater vehicle with the objective to reject bounded internal and external perturbations. The proposed control is used to achieve velocity regulation and autonomous path-following using waypoints. Each task is successfully performed in the presence of parametric uncertainties and irrotational water currents. Due to complex dynamics and random external perturbations, underwater vehicles need robust control. The closed-loop stability and finite-time convergence of the system are demonstrated using the Lyapun

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Prados, Carlos, Miguel Hernando, Ernesto Gambao, and Alberto Brunete. "Torque-Based Control of a Bio-Inspired Modular Climbing Robot." Machines 11, no. 7 (2023): 757. http://dx.doi.org/10.3390/machines11070757.

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This article presents a generalizable, low computational cost, simple, and fast gravity compensation method for legged robots with a variable number of legs. It is based on the static problem, which is a reduction in the dynamic model of the robot that takes advantage of the low velocity of climbing robots. To solve it, we propose a method that computes the torque to be applied by each actuator to compensate for the gravitational forces without using the Jacobian matrix for the forces exerted by the end-effector and without using analytical methods for the gravitational components of the model

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Carrillo-Serrano, R. V., V. M. Hernández-Guzmán, and V. Santibáñez. "PD control with feedforward compensation for rigid robots actuated by brushless DC motors." Robotica 29, no. 4 (2010): 507–14. http://dx.doi.org/10.1017/s0263574710000329.

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SUMMARYThis work is concerned with trajectory tracking of robots when the electrical dynamics of the brushless DC motor actuators is considered. It is shown that proportional-derivative (PD) control with feedforward compensation, plus some additional terms to cope with the electrical dynamics, ensures state boundedness. Furthermore, tracking error converges to zero from arbitrarily large initial conditions if controller gains are correctly chosen. Under mild assumptions, this controller reduces to the well-known PD control with feedforward compensation when implemented according to torque cont

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Chowdhury, Abhra Roy, Vinoth Kumar, Bhuneshwar Prasad, Rajesh Kumar, and S. K. Panda. "Model-Based Control of a BCF Mode Carangiform Bioinspired Robotic Fish." Marine Technology Society Journal 48, no. 4 (2014): 36–50. http://dx.doi.org/10.4031/mtsj.48.4.5.

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Abstract Bioinspired robotic locomotion in the ocean environment can unveil critical issues on maneuverability, efficiency, and power consumption. This paper describes the modeling and closed-loop control of a bioinspired robotic fish. A body-caudal fin (BCF) carangiform swimming mode is presented. The propulsion scheme simulates the oscillatory motion of fish tail as thrust generator. The manufactured prototype is a 45-cm-long BCF mode four-joint, 6 degree of freedom modular robotic fish with a horizontal caudal fin (tail). The system uses DC servomotors as actuators and is controlled by micr

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Khoi, Phan Bui, and Nguyen Van Toan. "APPLICATION OF HEDGE ALGEBRAS FOR CONTROLLING MECHANISMS OF RELATIVE MANIPULATION." Vietnam Journal of Science and Technology 55, no. 5 (2017): 572. http://dx.doi.org/10.15625/2525-2518/55/5/8841.

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This paper presents a method for controlling mechanism of relative manipulation (MRM robot), that based on an algebraic approach to linguistic hedges in fuzzy logic. The proposed model of MRM robot is introduced as two component mechanisms, collaborating to realize technological manipulations. MRM robot has complex structure [1, [2]; therefore, robot system's mathematical equations describing dynamical behaviors are complicated and voluminous [3,[4, 5]. Furthermore, the components affect MRM robot's dynamics that are difficult to determine adequately and exactly. Applying the well-known method

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Wang, Xiaoyi, and Jayantha Katupitiya. "A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot." Actuators 12, no. 8 (2023): 325. http://dx.doi.org/10.3390/act12080325.

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As people further develop space with advanced technology, space robots have played a significant role in on-orbit servicing missions. Space robots can carry out more risky and complicated missions with less cost than astronauts. Dual-arm space robots can perform complex on-orbit space missions more effectively than single-arm space robots. Since the coupled dynamics between the free-floating base and the arms exist in space robots, accurate coordinate control of the base and the arms is essential. Spacecraft release missions have been proposed to berth/deberth a spacecraft to a space station.

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Feng, Chenlu, Weidong Chen, Minqiang Shao, and Shihao Ni. "Trajectory Tracking and Adaptive Fuzzy Vibration Control of Multilink Space Manipulators with Experimental Validation." Actuators 12, no. 4 (2023): 138. http://dx.doi.org/10.3390/act12040138.

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This paper investigates the problem of modeling and controlling a space manipulator system with flexible joints and links. The dynamic model of the flexible manipulator system is derived by using the Lagrange equation and the floating frame of reference formulation, where the assumed mode method is adopted to discretize flexible links, while the flexible joints are regarded as linear torsion springs. The natural characteristics of a single flexible link manipulator, under three different boundary conditions, are compared to reveal the effect of the flexibility of joints on the manipulator syst

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Hu, Ningning, Aihui Wang, and Yuanhang Wu. "Robust adaptive PD-like control of lower limb rehabilitation robot based on human movement data." PeerJ Computer Science 7 (February 24, 2021): e394. http://dx.doi.org/10.7717/peerj-cs.394.

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The combination of biomedical engineering and robotics engineering brings hope of rehabilitation to patients with lower limb movement disorders caused by diseases of the central nervous system. For the comfort during passive training, anti-interference and the convergence speed of tracking the desired trajectory, this paper analyzes human body movement mechanism and proposes a robust adaptive PD-like control of the lower limb exoskeleton robot based on healthy human gait data. In the case of bounded error perturbation, MATLAB simulation verifies that the proposed method can ensure the global s

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Korayem, M. H., A. Alamdari, R. Haghighi, and A. H. Korayem. "Determining maximum load-carrying capacity of robots using adaptive robust neural controller." Robotica 28, no. 7 (2010): 1083–93. http://dx.doi.org/10.1017/s0263574710000081.

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SUMMARYIn this paper, the combination of neural network (NN), proportional derivative (PD), and robust controller are used for determining the maximum load-carrying capacity (MLCC) of articulated robots, subject to both actuator and end-effector deflection constraints. The proposed technique is then applied to articulated robots, and MLCC is obtained for a given trajectory. In the practical simulations, it's impossible to determine the parameters of robot model exactly, so the trajectory tracking performance of the proportional integral derivative (PID) and computed torque methods significantl

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Okechukwu Stanley Ikwunze and Victor Ikedichi Okparaku. "Simulation of a robot arm that can supplant the dynamic activities of human arm." GSC Advanced Engineering and Technology 4, no. 1 (2022): 072–78. http://dx.doi.org/10.30574/gscaet.2022.4.1.0053.

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The research was tenaciously conducted to model and simulate a robot arm using MATLAB Simulink software. The research activities included modification of a robot arm that mimics the controlling performance of a real human arm in MATLAB and the controlling effects of each joint as per the angle of rotation of the robot arm. The controlling moment (forces) of the robot arm was mathematically modeled. Euler-Lagrange equation of motion was applied to determine vector of control moments (forces). During the simulation process, the first to achieve was to model equations of motion in MATLAB symbolic

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Korayem, M. H., M. Bamdad, H. Tourajizadeh, et al. "Experimental results for the flexible joint cable-suspended manipulator of ICaSbot." Robotica 31, no. 6 (2013): 887–904. http://dx.doi.org/10.1017/s026357471300009x.

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SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two se

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Guglielmo, Kennon, and Nader Sadegh. "Theory and Implementation of a Repetitive Robot Controller With Cartesian Trajectory Description." Journal of Dynamic Systems, Measurement, and Control 118, no. 1 (1996): 15–21. http://dx.doi.org/10.1115/1.2801138.

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This paper presents a new repetitive learning controller for motion control of mechanical manipulators undergoing periodic tasks defined in Cartesian space. The controller does not require knowledge of the manipulator dynamic parameters beyond a simple geometric description. The desired task will be defined in Cartesian coordinates, and no inverse kinematics or inverse Jacobian will be calculated. The asymptotic stability of this algorithm is proven using the Lyapunov approach, and the nonlinear characteristics of the manipulator are explicitly taken into account. The results of implementation

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Wang, Aihui, Ningning Hu, Jun Yu, Junlan Lu, Yifei Ge, and Yan Wang. "Human-Like Robust Adaptive PD Based Human Gait Tracking for Exoskeleton Robot." Journal of Robotics and Mechatronics 33, no. 1 (2021): 88–96. http://dx.doi.org/10.20965/jrm.2021.p0088.

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For patients with dyskinesias caused by central nervous system diseases such as stroke, in the early stage of rehabilitation training, lower limb rehabilitation robots are used to provide passive rehabilitation training. This paper proposed a human-like robust adaptive PD control strategy of the exoskeleton robot based on healthy human gait data. When the error disturbance is bounded, a human-like robust adaptive PD control strategy is designed, which not only enables the rehabilitation exoskeleton robot to quickly track the human gait trajectory obtained through the 3D NOKOV motion capture sy

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Van Toan, Nguyen, and Phan Bui Khoi. "A control solution for closed-form mechanisms of relative manipulation based on fuzzy approach." International Journal of Advanced Robotic Systems 16, no. 2 (2019): 172988141983981. http://dx.doi.org/10.1177/1729881419839810.

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Closed-form mechanisms of relative manipulation robot is an effective structure which helps to improve the accuracy and flexibility in technological processes. Unfortunately, the requirement about knowledge of exact dynamics of closed-form mechanisms of relative manipulation robot is arduous since it consists of numerous joints and links, and the identification of the kinematic relationship of closed-form structure is also complicated. This causes several shortcomings for controlling closed-form mechanisms of relative manipulation robot by using vector control algorithms because these methods

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Cai, Haohao, and Xiaomei Xu. "Lateral Stability Control of a Tractor-Semitrailer at High Speed." Machines 10, no. 8 (2022): 716. http://dx.doi.org/10.3390/machines10080716.

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To improve the high-speed lateral stability of the tractor-semitrailer, a lateral stability control strategy based on the additional yaw moment caused by differential braking is proposed and investigated based on the co-simulation environment. First of all, a five-degree-of-freedom (5-DOF) yaw-roll dynamic model of the tractor-semitrailer is established, and the model accuracy is verified. Secondly, the lateral stability control strategy of the tractor-semitrailer is proposed, two yaw moment controllers and the braking torque distributor are designed. Then, the effectiveness of the proposed co

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Zhao, Pu, and Yunfei Zhou. "Active vibration control of flexible-joint manipulators using accelerometers." Industrial Robot: the international journal of robotics research and application 47, no. 1 (2019): 33–44. http://dx.doi.org/10.1108/ir-07-2019-0144.

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Purpose Manipulators are often subjected to joint flexibility caused by various causes in industrial applications, such as shaft windup, harmonic drives and bearing deformation. However, many industrial robots are only equipped with motor-side encoders because link-side encoders and torque transducers are expensive. Because of joint flexibility and resulted slow response rate, control performance of these manipulators is very limited. Based on this, the purpose of this paper is to use easy-to-install and cheap accelerometers to improve control performance of such manipulators. Design/methodolo

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Chen, Zhiming, Zhouhuai Luo, Yunhua Wu, Wei Xue, and Wenxing Li. "Research on High-Precision Attitude Control of Joint Actuator of Three-Axis Air-Bearing Test Bed." Journal of Control Science and Engineering 2021 (March 25, 2021): 1–11. http://dx.doi.org/10.1155/2021/5582541.

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Three-axis air-bearing test bed is important semiphysical simulation equipment for spacecraft, which can simulate spacecraft attitude control, rendezvous, and docking with high confidence. When the three-axis air-bearing table is maneuvering at a large angle, if it is only controlled by the flywheel, it will cause the problems of slow maneuvering speed and high energy consumption, and when the external interference torque becomes large, the control accuracy will decline. A combined actuator including flywheel, air-conditioner thruster, and automatic balancing device is designed, and a hierarch

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Liu, Tingrui, and Zhifeng Nie. "PD-Based Iterative Learning Control for the Nonlinear Low-Speed-Jitter Vibration of a Wind Turbine in Yaw Motion." Applied Sciences 14, no. 5 (2024): 1750. http://dx.doi.org/10.3390/app14051750.

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Aiming at the nonlinear low-speed-jitter (LSJ) vibration suppression for a yaw system of a megawatt wind turbine, a kinematics mechanism of the yaw system is investigated from the perspective of tribology, and a kinematics model of the yaw system based on an equilibrium position is established. On the basis of the dynamic modeling of the yaw system, a nonlinear mathematical model of the LSJ system is deduced. Based on the two lead motors’ driving of the conventional yaw motion, an innovative design with a special installation of two auxiliary motors for yaw transmission is carried out, which i

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Pizarro-Lerma, Andres, Victor Santibañez, Ramon Garcia-Hernandez, and Jorge Villalobos-Chin. "Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space." Mathematics 9, no. 6 (2021): 616. http://dx.doi.org/10.3390/math9060616.

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In this paper, we propose a Sectorial Fuzzy Controller (SFC) with a feedforward compensation of the robot dynamics in joint space, evaluated at the desired angular positions, velocities, and accelerations, applied to the trajectory tracking of all revolute joints robotic arms. Global uniform asymptotic stability proof applying the direct Lyapunov theorem, is introduced for this new control scheme by using a strict Lyapunov function. This strict Lyapunov function is the first one within the field of fuzzy control that is applied to the trajectory control of robotic manipulators. With this stric

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Kang, Huifeng, Xiangqiu Chen, Zehui Wang, Jifa Zhu, and Guangqing Xia. "Active Attitude Stabilization and Power-Constrained Control of Bicycles Based on VSCMG System." Machines 13, no. 6 (2025): 459. https://doi.org/10.3390/machines13060459.

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The inherent static instability of bicycles poses significant safety risks, driving research into active stabilization systems within the broader field of autonomous vehicle control. This study proposes a Variable-Speed Control Moment Gyroscope (VSCMG) system for bicycle attitude stabilization, aiming to enhance rider safety and system endurance by addressing the high power consumption of traditional Single-Gimbal CMG (SGCMG) systems. A single-axis balance model was developed, employing a proportional–derivative (PD) controller to compute the total torque demand, combined with least-squares-ba

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Ata, Atef, Salwa Elkhoga, Mohamed Shalaby, and Shihab Asfour. "Causal inverse dynamics of a flexible hub-arm system through Liapunov's second method." Robotica 14, no. 4 (1996): 381–89. http://dx.doi.org/10.1017/s0263574700019779.

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SUMMARYThe main objective of this work is to study the performance of a flexible single hub-arm system. The equations of motion are derived using the extended Hamilton principle. The Liapunov functional is used as a condition for the stability analysis. The Liapunov functional is considered as the sum of the internal energy of the flexible beam. The required drive torque was obtained directly through the solution of the inverse dynamic problem. Although the flexible link is nonminimum phase in nature, the use of Liapunov and the PD controller guarantee the causality for the stable case. The ef

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Wang, Fan, Peng Liu, Feng Jing, et al. "Sliding Mode Robust Active Disturbance Rejection Control for Single-Link Flexible Arm with Large Payload Variations." Electronics 10, no. 23 (2021): 2995. http://dx.doi.org/10.3390/electronics10232995.

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This paper proposes a novel robust control scheme for tip trajectory tracking of a lightweight flexible single-link arm. The developed control scheme deals with the influence of tip payload changes and disturbances during the working process of the flexible arm, thus realizing the accurate tracking for the tip reference trajectory. The robust control scheme is composed of an inner loop and an outer loop. The inner loop adopts the traditional PD control, and an active disturbance rejection control (ADRC) with a sliding mode (SM) compensation is designed in the outer loop. Moreover, the sliding

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Liu, Liang-Yih, and Hsiung-Cheng Lin. "Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach." Robotica 31, no. 5 (2013): 825–35. http://dx.doi.org/10.1017/s026357471300012x.

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SUMMARYIn this paper, the force control of a constrained one-link flexible arm is investigated using a feedback parallel compensation algorithm based on a linear distributed parameter model with internal damping of Kelvin–Voigt type. Generally, the non-collocation of the joint torque input and the tip contact force output comes along with the non-minimum phase in nature. To overcome this inherent limitation, a new input induced by the measurement of root-bending moment and its derivative, and a virtual contact force output generated by a parallel compensator are defined. Therefore, the transfe

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Pietrosanti, Luca, Cristiano Maria Verrelli, Franco Giannini, et al. "A Viscoelastic Model to Evidence Reduced Upper-Limb-Swing Capabilities during Gait for Parkinson’s Disease-Affected Subjects." Electronics 12, no. 15 (2023): 3347. http://dx.doi.org/10.3390/electronics12153347.

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Parkinson’s disease (PD) is a chronic neurodegenerative disorder with high worldwide prevalence that manifests with muscle rigidity, tremor, postural instability, and slowness of movement. These motor symptoms are mainly evaluated by clinicians via direct observations of patients and, as such, can potentially be influenced by personal biases and inter- and intra-rater differences. In order to provide more objective assessments, researchers have been developing technology-based systems aimed at objective measurements of motor symptoms, among which are the reduced and/or trembling swings of the

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Li, Xiaohui, Jie Geng, Qiang Zhang, and Jing Sun. "Relative position fitting based control strategy for thruster point assembly mechanism of electric propulsion." International Journal of Intelligent Computing and Cybernetics 9, no. 1 (2016): 69–82. http://dx.doi.org/10.1108/ijicc-07-2015-0025.

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Purpose – Thruster point assembly mechanism (TPAM) of the electric propulsion system allows to adjust the thrust vector, so that the thrust vector is directed to the satellite center of gravity (COG) during the satellite on-orbit working period. In this way the impact of disturbance torque caused by deviation of the thrust vector from the satellite COG during thruster ignition can be decreased. Therefore, the control accuracy of satellite is influenced directly by the control accuracy of TPAM. On the other hand, the on-orbit application of TPAM is restricted to the on-orbit computer resource.

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