MANIPULATION
Feedback linearization control for a 3-DOF flexible joint elbow manipulator
Kemalettin Erbatur, Richard Vinter, Okyay Kaynak
- Year
- 2002
- Citations
- 5
Abstract
This paper is concerned with the feedback linearization control of a flexible joint anthropoid robot. The theory to derive a linearizing control law for a certain type of dynamic equations is reviewed and the model for a particular manipulator is derived. Based on this model a linearization controller is designed and its tracking performance is compared with classical controllers.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
LinearizationFeedback linearizationControl theory (sociology)Controller (irrigation)Joint (building)Manipulator (device)Computer scienceControl engineeringRobotControl (management)
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