Nonlinear Controller with Dynamic Compensation for 6-DOF Manipulator in Practice

This paper presents a nonlinear controller with dynamic compensation for six degrees of freedom (6-DOF) manipulator Denso VS-6556 in practice. The is complex system some limitations when applying linear to control it. combines proportional derivative, and established deal this problem. PD controller, can cancel the parts system. Therefore, tracking problem expected result good performance. stability resilience entire are examined using Lyapunov technique. test bench built ensure conditions experimentation; it includes card PCI QUAD04s, NI PCI-6713, industrial computer 610H Advantage, MATLAB/Simulink Finally, suggested subjected 6-DOF 6556 compared verify effectiveness controller.