@Article{sl.2013.010.095,
AUTHOR = {Dǎnu¸t Receanu},
TITLE = {Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink/MATLAB for an Industrial Robot},
JOURNAL = {Structural Longevity},
VOLUME = {10},
YEAR = {2013},
NUMBER = {2},
PAGES = {95--106},
URL = {http://www.techscience.com/sl/v10n2/42924},
ISSN = {1944-6128},
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.},
DOI = {10.3970/sl.2013.010.095}
}