TY  - EJOU
AU  - Receanu, Dǎnu¸t 

TI  - Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink/MATLAB for an Industrial Robot
T2  - Structural Longevity

PY  - 2013
VL  - 10
IS  - 2
SN  - 1944-6128

AB  - 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.
KW  - robot dynamics
KW  -  nonlinearities
KW  -  linear and nonlinear control of robots

DO  - 10.3970/sl.2013.010.095