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  • Computed Torque Control for a Spatial Disorientation Trainer
    Vidaković, Jelena, 1982- = Видаковић, Јелена, 1982- ...
    A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in ... implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feedforward control method used for tracking of robotʹs time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.
    Izvor: Facta Universitatis. Series, Mechanical engineering. - ISSN 0354-2025 (Vol. 18, no. 2, 2020, str. 269-280)
    Vrsta građe - članak, sastavni deo
    Godina - 2020
    Jezik - engleski
    COBISS.SR-ID - 27163145

    Link(-ovi):

    http://casopisi.junis.ni.ac.rs/index.php/FUMechEng/article/view/5678
    http://casopisi.junis.ni.ac.rs/index.php/FUMechEng/article/view/5678
    DOI

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