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Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink/MATLAB for an Industrial Robot
1 Tehnical University "Gh.Asachi" Ia¸si, The Theory of Mechanisms and Robotics Department.
Structural Longevity 2013, 10(2), 95-106. https://doi.org/10.3970/sl.2013.010.095
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The paper presents a conceptually simple nonlinear controller, commonly called computer torque controller, which can fully compensate the nonlinear forces: Coriolis and centripetal forces (natural and continuous nonlinearities) and at the same time the program in Simulink can fully compensate the natural and discontinuous nonlinearities (hard nonlinearities): friction and backlash utilizing the intentional nonlinearities artificially introduced in system and lead to high accuracy control for a very large range of robot speeds and a large workspace.Keywords
robot dynamics, nonlinearities, linear and nonlinear control of robots.
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APA Style
Receanu, D. (2013). Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink/MATLAB for an Industrial Robot. Structural Longevity, 10(2), 95–106. https://doi.org/10.3970/sl.2013.010.095
Vancouver Style
Receanu D. Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink/MATLAB for an Industrial Robot. Structural Longevity. 2013;10(2):95–106. https://doi.org/10.3970/sl.2013.010.095
IEEE Style
D. Receanu, “Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink/MATLAB for an Industrial Robot,” Structural Longevity, vol. 10, no. 2, pp. 95–106, 2013. https://doi.org/10.3970/sl.2013.010.095
Copyright © 2013 The Author(s). Published by Tech Science Press.This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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