A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System

A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System

Title: A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System
Authors: Ololade O. Obadina (School of Engineering and Materials Science, Queen Mary University of London); Julius Bernth (School of Engineering and Materials Science, Queen Mary University of London); Kaspar Althoefer (School of Engineering and Materials Science, Queen Mary University of London); M Hasan Shaheed (School of Engineering and Materials Science, Queen Mary University of London);
Year: 2018
Citation: Obadina, O. O., Bernth, J., Althoefer, K., Hasan Shaheed, M., (2018). A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System. UK-RAS Conference: ‘Robots Working For & Among Us’ Proceedings, 29-31. doi: 10.31256/UKRAS17.10

Abstract:

A modified computed torque controller (CTC) is presented in this paper. The proposed approach is demonstrated on one joint of a 4-degree of freedom (DOF) master-slave (MS) robot manipulator and the CTC gain parameters are optimized using the particle swarm optimisation (PSO) algorithm. The feasibility of the proposed controller is tested and compared with the conventional / traditional computed torque control. Results show that the proposed controller performs impressively.

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