Dynamic control of robot manipulators

摘要

The aim of the design and of the realization of a robot is to manipulating physical objects in its working environment. For that, the robot needs that we furnish to it the necessary control signals to perform the planned task. In this paper, we shall study the design of such controls via a PD (Proportional and Derivative) controller with compensation of the gravity effects and computed torque control (Inverse dynamics control) which are respectively a regulation control and a tracking control. The application of these two commands as well as a comparative study between them will be done by computer simulation on the robot Cyber-310 that is a five-degree of freedom manipulator.