Feedback linearization control for a 3-DOF flexible joint elbow manipulator

摘要

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">&gt;</ETX>