Title :
Feedback linearization control for a 3-DOF flexible joint elbow manipulator
Author :
Erbatur, Kemalettin ; Vinter, Richard B. ; Kaynak, Okyay
Author_Institution :
Marmara Res. Centre, Bogazici Univ., Istanbul, Turkey
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
Keywords :
control system synthesis; feedback; linearisation techniques; manipulators; nonlinear control systems; state-space methods; tracking; 3-DOF flexible joint elbow manipulator; closed loop system; dynamic equations; feedback linearization control; flexible joint anthropoid robot; nonlinear control system; state space; tracking; Control systems; Differential equations; Educational institutions; Elbow; Feedback loop; Gravity; Linear feedback control systems; Manipulator dynamics; State feedback; State-space methods;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350886
