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

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.