Control of robots with discrete nonlinear model: theory and experimentation

The discrete time theory that feedback linearizes and output decouples the coupled nonlinear dynamics of the PUMA 560 robot arm is systematically developed. The effect of sampling on the performance of the arm has been studied and shown through experiments. Certain restrictions that are necessary on the sampling time of the system are shown. The results obtained have been experimentally verified. Since a number of researchers have addressed the problem of loss of feedback linearizability under sampling, it was important to develop theories and obtain results in discrete time that take into consideration the effects due to sampling. This problem is addressed