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

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Towards Autonomous Robotic Systems (TAROS 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10965))

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Abstract

A modified computed torque controller, adapted from the standard computed torque control law, is presented in this paper. The proposed approach is demonstrated on a 4-degree of freedom (DOF) master-slave robot manipulator and the modified computed torque controller gain parameters are optimized using both particle swarm optimization (PSO) and grey-wolf optimization algorithms. The feasibility of the proposed controller is tested experimentally and compared with its standard computed torque control counterpart. Controller tuning/optimization is carried out offline in the MATLAB/Simulink environment, and results show that the proposed controller is feasible, and performs impressively.

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Author information

Authors and Affiliations

  1. School of Engineering and Materials Science, Queen Mary University of London, London, UK

    Ololade O. Obadina, Kaspar Althoefer & M. Hasan Shaheed

  2. Blizard Institute, Barts and the London School of Medicine and Dentistry, Queen Mary University of London, London, UK

    Mohamed Thaha

Authors
  1. Ololade O. Obadina
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  2. Mohamed Thaha
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  3. Kaspar Althoefer
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  4. M. Hasan Shaheed
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Corresponding author

Correspondence to Ololade O. Obadina .

Editor information

Editors and Affiliations

  1. University of the West of England, Bristol, United Kingdom

    Manuel Giuliani

  2. University of Bath, Bath, United Kingdom

    Tareq Assaf

  3. University of Bristol, Bristol, United Kingdom

    Maria Elena Giannaccini

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Obadina, O.O., Thaha, M., Althoefer, K., Hasan Shaheed, M. (2018). A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System. In: Giuliani, M., Assaf, T., Giannaccini, M. (eds) Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science(), vol 10965. Springer, Cham. https://doi.org/10.1007/978-3-319-96728-8_3

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  • DOI: https://doi.org/10.1007/978-3-319-96728-8_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-96727-1

  • Online ISBN: 978-3-319-96728-8

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