Title: 		Bond Graph Inverse Model Based Control of a Robotic Manipulator
Author: 	D.W.Roberts, P.J.Gawthrop & D.J. Ballance
Keywords: 	
Abstract:
The performance of robotic manipulators is improved by the use of
inverse model based control techniques such as feedforward control or
computed torque. The implementation of such control schemes is
complicated, however, by the complex non-linear structure of the
robotic equations of motion. This paper explores how the bond graph
representation of a rigid, planar, rotational joint two-link
manipulator may be modified to automatically produce the software
required to implement a computed torque controller for an experimental
manipulator. Results are given for both simulations and practical
implementation.