ICME 2010

3-PRR
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-1 Kordjazi@gmail.com

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Computed Torque Control


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] 5.[6

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) ( CTC ]:[8
ct = M (q )[ K pe + K D e&] + fd
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:
)(2

a
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&M(q )q
+ C(q , q&)q&a + G(q ) = v

:
)(3
u n 1 u n 1 3 :
)(4

u = u+

) = M(q

)(5
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) = C(q , q&)q&a + G(q

)(6

a
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&u = q
d + K D e&+ K p e


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q a d e . n
n n :
) K P = diag ( k Pi

) K D = diag ( k Di

)(7
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)(8
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P (s ) = s + 2n s + n
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PD :
)(10

k Pi = n2, k Di = 2 n

n i .
PD = 1 . :
k Di = 2 k Pi
)(11
10 K P K D .

KP

K D .

11 .
.

. .


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Natural Orthogonal Complement
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2 3-PRR

3 Simulink

4 Simulink


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-1 3-PRR

) ( gr

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2

137,16

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7 PID

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PID 10

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1- I. Davliakos, E. Papadopoulos, "Model-based control of a 6-dof electrohydraulic Stewart-Gough platform",

Mechanism and Machine Theory, Vol. 43, pp. 1385-1400, 2008.
2- G. Rigatos, "Model-based and model-free control of flexible-link robots: A comparison between representative
methods", Applied Mathematical Modelling, vol. 33, pp. 39063925, 2009.
3- Y. Zhiyong, W. Jiang, M. Jiangping, "Motor-mechanism dynamic model based neural network optimized
computed torque control of a high speed parallel manipulator", Mechatronics, vol. 17, pp. 381390, 2007.
4- W. Shang, S. Cong, "Nonlinear computed torque control for a high-speed planar parallel manipulator",
Mechatronics, vol. 19, pp. 987992, 2009.
5- Z. Song, J. Yi, D. Zhao, X. Li, " A computed torque controller for uncertain robotic manipulator systems: Fuzzy
approach ", Fuzzy Sets and Systems, vol. 154, pp. 208226, 2005.
6- He, J.F., Jiang, H.Z., Cong, D.C., Ye, Z.M., and Han, J.W., A Survey On Control Of Parallel Manipulator, Key
Engineering Materials, Trans Tech Publications, 2007 .
7- Paul, R.P., Technical Report AIM-177, Stanford Artificail Intelligence Laboratory 1972.
8- Husty, M.L., An algorithm for solving the direct kinematics of general Stewart-Gough platforms, Mech. and
Mach. Theory, Vol.31(4), p.365-380, 1996.
9- Sjirk, K., Model Based Control of a Flight Simulator Motion System. PhD thesis, Delft: Delft University of
Technology, 2001.


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