Computed Torque Control for Robotic Manipulator

Project Overview

This project focuses on the design and implementation of a Computed Torque Control (CTC) system for robotic manipulator arms. The work demonstrates advanced control techniques for achieving precise trajectory tracking and disturbance rejection in robotic systems.

Key Achievements

• Developed a comprehensive Computed Torque Control system for manipulator arm
• Implemented and validated controller in simulation environment
• Achieved robust performance with excellent trajectory tracking
• Demonstrated effective disturbance rejection capabilities

Control System Design

• Controller Architecture:
  • Implemented feed-forward computed torque control
  • Integrated PD feedback control for error compensation
  • Developed dynamic model compensation techniques
  • Real-time trajectory tracking system
• System Modeling:
  • Full dynamic model of robotic manipulator
  • Non-linear compensation techniques
  • Gravity and Coriolis force consideration
  • Friction modeling and compensation

Performance Analysis

• Trajectory Tracking:
  • Minimized tracking errors in joint space
  • Smooth motion profiles
  • Stable performance across operating range
  • Robust against model uncertainties
• Stability Analysis:
  • Lyapunov stability verification
  • Robustness against parameter variations
  • Error convergence analysis
  • Performance bounds evaluation

Technologies Used

• MATLAB/Simulink for simulation and analysis
• Robotic System Toolbox
• Control System Design Tools
• Numerical Optimization Techniques

Key Results

• Achieved sub-millimeter positioning accuracy
• Demonstrated robust performance under varying loads
• Successfully compensated for non-linear dynamics
• Verified stability across operational workspace

Technical Details

• Control Law Implementation:
  • Non-linear dynamic compensation
  • PD control gain optimization
  • Real-time computational efficiency
  • Adaptive parameter tuning
• Validation Methods:
  • Extensive simulation testing
  • Multiple trajectory scenarios
  • Disturbance response analysis
  • Parameter sensitivity studies

Project Resources

• Technical Report: Computed Torque Control Implementation Report [PDF]