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Trajectory Optimization for High-Power Robots with Motor Temperature Constraints Read chapter Read first chapter

2018 | OriginalPaper | Chapter

A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System

Authors : Ololade O. Obadina, Mohamed Thaha, Kaspar Althoefer, M. Hasan Shaheed

Published in: Towards Autonomous Robotic Systems

Publisher: Springer International Publishing

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Abstract

A modified computed torque controller, adapted from the standard computed torque control law, is presented in this paper. The proposed approach is demonstrated on a 4-degree of freedom (DOF) master-slave robot manipulator and the modified computed torque controller gain parameters are optimized using both particle swarm optimization (PSO) and grey-wolf optimization algorithms. The feasibility of the proposed controller is tested experimentally and compared with its standard computed torque control counterpart. Controller tuning/optimization is carried out offline in the MATLAB/Simulink environment, and results show that the proposed controller is feasible, and performs impressively.

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previous chapter SPGS: A New Method for Autonomous 3D Reconstruction of Unknown Objects by an Industrial Robot
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Metadata
Title
A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System
Authors
Ololade O. Obadina
Mohamed Thaha
Kaspar Althoefer
M. Hasan Shaheed
Copyright Year
2018
Book
Towards Autonomous Robotic Systems

Print ISBN: 978-3-319-96727-1

Electronic ISBN: 978-3-319-96728-8

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-96728-8_3

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