REAL-TIME TRAJECTORY TRACKING OF ROBOTIC MANIPULATOR BASED ON COMPUTED TORQUE CONTROL

Abstract

This study presents obtaining the mathematical model of a three-degree-of-freedom robotic manipulator using spatial operator algebra (SOA), designing a controller based on the obtained model, and implementing the designed controller in real time. SOA is a technique that provides a mathematical foundation for reducing the complexity of robotic systems, analyzing, and optimizing them. The control of the robotic arm is achieved using the computed torque control method calculated based on mathematical model derived from SOA. The performance of the controller is rigorously evaluated through real-time trajectory tracking experiments, where it consistently achieved high precision in following predefined trajectories, maintaining tracking errors below 2.5 degrees. The effectiveness of the controller is further validated in disturbance rejection tests, where it effectively maintained trajectory accuracy despite manual external perturbations. These tests demonstrate the controller's capability to handle dynamic tasks and disturbances, showcasing the practical applicability and robustness of the SOA-based computed torque control scheme.