Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control

2002 ◽  
Author(s):  
J.H. Park ◽  
K.D. Kim
Keyword(s):  
Inverted Pendulum ◽  
Biped Robot ◽  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In 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 study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm

2021 ◽  
pp. 1-9
Author(s):  
G. Perumalsamy ◽  
Deepak Kumar ◽  
Joel Jose ◽  
S. Joseph Winston ◽  
S. Murugan
Keyword(s):  
Control Method ◽  
Torque Control ◽  
Robotic Arm ◽  
Computed Torque Control ◽  
Computed Torque

scholarly journals Fine-Tuning of a Fuzzy Computed-Torque Control for a 2-DOF Robot via Genetic Algorithms

2018 ◽  
Vol 51 (13) ◽  
pp. 326-331
Author(s):  
A.O. Pizarro-Lerma ◽  
R. García-Hernández ◽  
V.A. Santibáñez
Keyword(s):  
Genetic Algorithms ◽  
Torque Control ◽  
Fine Tuning ◽  
Computed Torque Control ◽  
Computed Torque
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