Dynamics and Computed-Torque Control of a 2-DOF manipulator: Mathematical Analysis - Archive ouverte HAL Access content directly
Journal Articles International Journal of Advanced Science and Technology Year : 2019

Dynamics and Computed-Torque Control of a 2-DOF manipulator: Mathematical Analysis

Abstract

In this paper, the dynamics of the 2-DOF manipulators are presented. The mathematical analysis for these dynamics for two cases is carried out: in the first case, the manipulator is moving without any collision (external forces) with its environment, whereas the second case the manipulator is collided. The Computed-Torque Control is used for these dynamic of the manipulator. A simulation study is executed using a sinusoidal motion commanded simultaneously to the two joints of the manipulator. The actual and desired signals of the joints' positions, velocities, accelerations and torques of the 2-DOF robot are compared whether there is a collision or no. The results prove that the computed-torque control is effectively minimizing the error between the actual signals and the desired signals. In addition, the dynamic coupling between the joints is presented from the results.
Fichier principal
Vignette du fichier
Accepted Version.pdf (676.1 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-03598924 , version 1 (06-03-2022)

Identifiers

  • HAL Id : hal-03598924 , version 1

Cite

Abdel-Nasser Sharkawy, Panagiotis Koustoumpardis. Dynamics and Computed-Torque Control of a 2-DOF manipulator: Mathematical Analysis. International Journal of Advanced Science and Technology, 2019, 28 (12), pp.201-212. ⟨hal-03598924⟩

Collections

TDS-MACS
382 View
4651 Download

Share

Gmail Mastodon Facebook X LinkedIn More