WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 20, 2025
Computed Torque Control Applied to a Planar Robot in a Bond Graph
Approach
Authors: , , , ,
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Abstract: A position control of a two-degree-of-freedom planar robot modeled in bond graph is
proposed. Bond graph is a methodology that allows direct modeling of mechatronic systems, so robots
represented in bond graph are interesting case studies to apply the properties in this graphic work
environment. In this way, a control called calculated torque to remove the nonlinearities characteristic
of robot modeling is applied in bond graph. To know the shape of the controller, the mathematical
model of the robot is necessary, so this is obtained through the junction structure then the controller is
designed in bond graph. To know the effectiveness of the closed-loop system. Simulation results are
shown where it is verified that the position of each link of the planar robot reaches the desired reference
input.
Pages: 520-529
DOI: 10.37394/23203.2025.20.51