Design Baseline Computed Torque Controller

The application of design nonlinear controller such as computed torque controller in control of 6degrees of freedom (DOF) robot arm will be investigated in this research. One of the significantchallenges in control algorithms is a linear behavior controller design for nonlinear systems (e.g.,robot manipulator). Some of robot manipulators which work in industrial processes are controlledby linear PID controllers, but the design of linear controller for robot manipulators is extremelydifficult because they are hardly nonlinear and uncertain. To reduce the above challenges, thenonlinear robust controller is used to control of robot manipulator. Computed torque controller is apowerful nonlinear controller under condition of partly uncertain dynamic parameters of system.This controller is used to control of highly nonlinear systems especially for robot manipulators. Toadjust this controller’s coefficient baseline methodology is used and applied to CTC.