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

Abdel-Nasser Sharkawy (1) , Panagiotis Koustoumpardis (2)

1 South Valley University [Qena]
2 University of Patras

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.

Mots clés: Robot-Manipulator; Joints Dynamics; Dynamic Coupling; Collision; Computed-Torque Control

Domaines: Robotique [cs.RO]; Optimisation et contrôle [math.OC]; Systèmes dynamiques [math.DS]; Systèmes et contrôle [cs.SY]

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⟩