Open Access

ARTICLE

Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink/MATLAB for an Industrial Robot

Dǎnu¸t Receanu¹

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

Abstract

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.

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Keywords

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