A Novel Formulation for Adaptive Computed Torque Control Enabling Low Feedback Gains in Highly Dynamical Tasks
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DOI: 10.1109/access.2025.3561635
Abstract: Computed Torque Control is a widely used control strategy for ensuring precise trajectory tracking and impedance behavior in robotic manipulators. However, because it relies on feedback linearization using the robot’s dynamic model, any inaccuracies in… read more here.
Keywords: computed torque; control; adaptive computed; feedback gains ... See more keywords