Abstract
In this work we propose to control robot using computed torque compensator based on robust estimation method called Support Vector Regression (SVR). This method represent the innovative side of this work; as it is powerful to modeling and identifying the nonlinear systems such as the disturbances that can appear during robot tracking a desired trajectory. The computed torque technique is also used from to pre-compensate the dynamics behavior of the nominal system. In order to demonstrate and show the robustness of the proposed control law, we have tested the system (Puma 560 robot) with a series of tests in simulation environment. The obtained results allow us to validate the proposed control law. As a result, the SVR reacts quickly to reject the errors originating from the disturbances.
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Djelal, N., Boudouane, I., Saadia, N., Ramdane-Cherif, A. (2016). Robot Control by Computed Torque Based on Support Vector Regression. In: Tan, Y., Shi, Y., Li, L. (eds) Advances in Swarm Intelligence. ICSI 2016. Lecture Notes in Computer Science(), vol 9713. Springer, Cham. https://doi.org/10.1007/978-3-319-41009-8_48
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DOI: https://doi.org/10.1007/978-3-319-41009-8_48
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