Dynamics and Computed-Torque Control of a 2-DOF manipulator: Mathematical Analysis

Abstract

In this paper, the dynamics of the 2-DOF manipulators are presented. The mathematical analysis for these dynamics for two cases is carried out: in the first case, the manipulator is moving without any collision (external forces) with its environment, whereas the second case the manipulator is collided. The Computed-Torque Controlis usedfor these dynamic of the manipulator. A simulation study is executed using a sinusoidal motion commanded simultaneously to the two joints of the manipulator. The actual and desired signals of the joints’positions, velocities, accelerations and torques of the 2-DOF robotare compared whether there is a collision or no.The results prove that the computed-torque control is effectivelyminimizing the error between the actual signals and the desired signals. In addition, the dynamic coupling between the joints is presented from the results.