Computed Voltage Control of a robot arm including mechanical link and electrical actuator dynamics

To evaluate the efficiency of the computed voltage controller, tracking position and velocity errors are compared by simulation with the computed torque control and two conventional laws of regulation. At the end, another comparison is done with a non linear control law of regulation where the derivatives of the controlled variable q are tracked. The design of computed voltage controller, which includes the current dynamics of a synchronous driver, is derived. The control law is implemented and validated on an experimental robot joint.