### Abstract

Computed torque control (CTC) method is an efficient technique for trajectory tracking control of robot manipulators. As a model-based control, CTC needs the inverse dynamics calculation of the dynamical system. A special group of these systems is formed by the underactuated ones, in which the number of independent control inputs is lower than the degrees of freedom of the system. In these systems, the inverse dynamics calculation is a challenging task, because the inverse calculation leads to the solution of a differential- algebraic equation (DAE). Complex robotic structures like the ones with closed kinematic loops are generally modeled by redundant descriptor coordinates instead of the Lagrangian approach when a minimum set of generalized coordinates are chosen. The use of non-minimum set of descriptor coordinates requires the introduction of a set of geometric constraints, which are expressed in the form of algebraic equations. Thus, the mathematical model of the robotic structure itself is also a DAE. A few different CTC method based algorithms are studied. The control algorithms are compared in the case of the simplest possible linear dynamical system with special attention to the choice of the descriptor coordinate set.

Original language | English |
---|---|

Pages (from-to) | 73-80 |

Number of pages | 8 |

Journal | Periodica Polytechnica, Mechanical Engineering |

Volume | 56 |

Issue number | 1 |

DOIs | |

Publication status | Published - 2012 |

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### Keywords

- Computed desired computed torque control
- Computed torque control
- Underactuated robotics

### ASJC Scopus subject areas

- Mechanical Engineering

### Cite this

**Case studies for computed torque control of constrained underactuated systems.** / Zelei, Ambrus; Stépán, G.

Research output: Contribution to journal › Article

*Periodica Polytechnica, Mechanical Engineering*, vol. 56, no. 1, pp. 73-80. https://doi.org/10.3311/pp.me.2012-1.11

}

TY - JOUR

T1 - Case studies for computed torque control of constrained underactuated systems

AU - Zelei, Ambrus

AU - Stépán, G.

PY - 2012

Y1 - 2012

N2 - Computed torque control (CTC) method is an efficient technique for trajectory tracking control of robot manipulators. As a model-based control, CTC needs the inverse dynamics calculation of the dynamical system. A special group of these systems is formed by the underactuated ones, in which the number of independent control inputs is lower than the degrees of freedom of the system. In these systems, the inverse dynamics calculation is a challenging task, because the inverse calculation leads to the solution of a differential- algebraic equation (DAE). Complex robotic structures like the ones with closed kinematic loops are generally modeled by redundant descriptor coordinates instead of the Lagrangian approach when a minimum set of generalized coordinates are chosen. The use of non-minimum set of descriptor coordinates requires the introduction of a set of geometric constraints, which are expressed in the form of algebraic equations. Thus, the mathematical model of the robotic structure itself is also a DAE. A few different CTC method based algorithms are studied. The control algorithms are compared in the case of the simplest possible linear dynamical system with special attention to the choice of the descriptor coordinate set.

AB - Computed torque control (CTC) method is an efficient technique for trajectory tracking control of robot manipulators. As a model-based control, CTC needs the inverse dynamics calculation of the dynamical system. A special group of these systems is formed by the underactuated ones, in which the number of independent control inputs is lower than the degrees of freedom of the system. In these systems, the inverse dynamics calculation is a challenging task, because the inverse calculation leads to the solution of a differential- algebraic equation (DAE). Complex robotic structures like the ones with closed kinematic loops are generally modeled by redundant descriptor coordinates instead of the Lagrangian approach when a minimum set of generalized coordinates are chosen. The use of non-minimum set of descriptor coordinates requires the introduction of a set of geometric constraints, which are expressed in the form of algebraic equations. Thus, the mathematical model of the robotic structure itself is also a DAE. A few different CTC method based algorithms are studied. The control algorithms are compared in the case of the simplest possible linear dynamical system with special attention to the choice of the descriptor coordinate set.

KW - Computed desired computed torque control

KW - Computed torque control

KW - Underactuated robotics

UR - http://www.scopus.com/inward/record.url?scp=84874992449&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84874992449&partnerID=8YFLogxK

U2 - 10.3311/pp.me.2012-1.11

DO - 10.3311/pp.me.2012-1.11

M3 - Article

AN - SCOPUS:84874992449

VL - 56

SP - 73

EP - 80

JO - Periodica Polytechnica, Mechanical Engineering

JF - Periodica Polytechnica, Mechanical Engineering

SN - 0324-6051

IS - 1

ER -