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| PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses
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Full
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 PDF(633.4KB) |
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Source |
International Journal of Robotics and Automation (IJRA) |
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Table of Contents |
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Volume: 3 Issue: 3 |
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Pages: |
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Publication
Date: June 2012 |
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ISSN
(Online): 2180-1312 |
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Pages |
167 - 191 |
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Author(s) |
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Published
Date |
20-06-2012 |
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Publisher |
CSC
Journals, Kuala Lumpur,
Malaysia |
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ADDITIONAL
INFORMATION |
| Keywords Abstract References Cited by Related Articles Collaborative
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KEYWORDS: Computed Torque Controller, Puma 560 Robot Manipulator, Position Control Method, Nonlinear Control |
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| This paper describes the MATLAB/SIMULINK realization of the PUMA 560 robot manipulator position control methodology. This paper focuses on design, analyzed and implements nonlinear computed torque control (CTC) methods. These simulation models are developed as a part of a software laboratory to support and enhance graduate/undergraduate robotics courses, nonlinear control courses and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran. |
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| Farzin Piltan : Colleagues
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| Mohammad Hossein Yarmahmoudi : Colleagues
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| Mohammad Shamsodini : Colleagues
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| Ebrahim Mazlomian : Colleagues
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| Ali Hosainpour : Colleagues
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