Discontinuous Feedback Linearization of an Electrically Driven Fast Robot Manipulator
نویسندگان
چکیده
A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications. Keywords—Fast robot, feedback linearization, multivariable digital control, PUMA560.
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