### “On the Robustness of the Computed Torque Technique in Manipulator Control”

**Authors:**Olav Egeland,

**Affiliation:**NTNU, Department of Engineering Cybernetics

**Reference:**1987, Vol 8, No 3, pp. 149-158.

**Keywords:**Robots, robustness analysis

**Abstract:**In this paper, the robustness of the computed torque technique for manipulator control is investigated in the presence of model errors. The robustness analysis is performed in the frequency domain by means of the block Gerschgorin theorem. This theorem gives inclusion regions for the eigenvalues of the linearized state space model. The stability of the system close to a trajectory can then be investigated. The results indicate that relatively large errors in the non-linear feedback compensation of system non-lincarities may be tolerated without affecting system stability. However, even small errors in the computed inertia matrix may result in instability.

PDF (805 Kb) DOI: 10.4173/mic.1987.3.3

**DOI forward links to this article:**

[1] Thor Inge Fossen and Jens G. Balchen (1988), doi:10.4173/mic.1988.4.1 |

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**BibTeX:**

@article{MIC-1987-3-3,

title={{On the Robustness of the Computed Torque Technique in Manipulator Control}},

author={Egeland, Olav},

journal={Modeling, Identification and Control},

volume={8},

number={3},

pages={149--158},

year={1987},

doi={10.4173/mic.1987.3.3},

publisher={Norwegian Society of Automatic Control}

};