{"title":"Simulation of computed torque controllers for flexible manipulators","authors":"T.D. Looke, M. Bayoumi, M. Farooq","doi":"10.1109/MWSCAS.1991.252206","DOIUrl":null,"url":null,"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.<<ETX>>","PeriodicalId":6453,"journal":{"name":"[1991] Proceedings of the 34th Midwest Symposium on Circuits and Systems","volume":"4 1","pages":"505-508 vol.1"},"PeriodicalIF":0.0000,"publicationDate":"1991-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"[1991] Proceedings of the 34th Midwest Symposium on Circuits and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MWSCAS.1991.252206","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
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.<>
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