Abstract
The accurate position and motion control of the end-effector for robot execution is an important research direction of robot control. Based on the computed torque model, a Proportional-Integral-Derivative computed torque control (PID-CTC) method is introduced, in order to describe the process of implementing the end position control strategy for the robot manipulator. Compared with the traditional position control method, the computed torque control method can better handle the nonlinear problem when the parameters all known. Compared with the response and tracking performance of the robot manipulator to the two input trajectories, the results show that the PID-CTC control effect has low error and high accuracy, which is an efficient motion control method.
Supported by National Natural Science Foundation of China under Grant No. 52275005 and Natural Science Basic Research Plan in Shaanxi Province of China under Grant No.2022JQ-342
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Feng, C., Chen, Z., Jin, W., Guo, W. (2023). Motion Control and Simulation Analysis of a Manipulator Based on Computed Torque Control Method. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_2
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DOI: https://doi.org/10.1007/978-981-99-6483-3_2
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