DESIGN AND IMPLEMENTATION OF THE OUTPUT FEEDBACK LINEARIZATION CONTROL METHOD TO DETERMINE THE DLCC OF 6R MANIPULATOR IN THIS STUDY, FEEDBACK LINEARIZATION (FL) FOR 6R MANIPULATOR

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ALIZADEH SARAVI L.; KORAYEM M.H.; NEKOO S.R.

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Journal Paper

Paper Information

Journal: INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY Year:2015 | Volume:8 | Issue:3 Page(s): 59-66

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Title

DESIGN AND IMPLEMENTATION OF THE OUTPUT FEEDBACK LINEARIZATION CONTROL METHOD TO DETERMINE THE DLCC OF 6R MANIPULATOR IN THIS STUDY, FEEDBACK LINEARIZATION (FL) FOR 6R MANIPULATOR

Author(s)

ALIZADEH SARAVI L. | KORAYEM M.H. | NEKOO S.R. | Issue Writer Certificate

Keywords

6R ROBOT

INVERSE KINEMATIC

FORWARD KINEMATIC

FEEDBACK LINEARIZATION

DLCC

Abstract

In this study, FEEDBACK LINEARIZATION (FL) for 6R manipulator is designed, simulated and implemented. The presented input-output FL controller has achieved the desired performance for the complicated nonlinear terms in the arm‟s dynamic equations. Simulations were used to test the performance of the controller for point-to-point motion as well as continuous trajectory. The results of the point-to-point motion simulations and experiments were compared, where it indicates that the proposed approach preserved smooth motion in a very short process time with good accuracy. The dynamic load carrying capacity (DLCC), which is a criterion to determine FL controller performance on 6R ROBOT, is also investigated, based on saturated torque of the motors and allowable error bounds. Moreover, it was shown that the control law is able to accurately represent closed-loop equations and simultaneously imposed desirable behavior on 6R ROBOT.

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References

ANALYSIS OF MANIPULATORS USING SDRE: A CLOSED LOOP NONLINEAR OPTIMAL CONTROL APPROACH

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APA: Copy

ALIZADEH SARAVI, L., KORAYEM, M.H., & NEKOO, S.R.. (2015). DESIGN AND IMPLEMENTATION OF THE OUTPUT FEEDBACK LINEARIZATION CONTROL METHOD TO DETERMINE THE DLCC OF 6R MANIPULATOR IN THIS STUDY, FEEDBACK LINEARIZATION (FL) FOR 6R MANIPULATOR. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, 8(3), 59-66. SID. https://sid.ir/paper/673754/en

Vancouver: Copy

ALIZADEH SARAVI L., KORAYEM M.H., NEKOO S.R.. DESIGN AND IMPLEMENTATION OF THE OUTPUT FEEDBACK LINEARIZATION CONTROL METHOD TO DETERMINE THE DLCC OF 6R MANIPULATOR IN THIS STUDY, FEEDBACK LINEARIZATION (FL) FOR 6R MANIPULATOR. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY[Internet]. 2015;8(3):59-66. Available from: https://sid.ir/paper/673754/en

IEEE: Copy

L. ALIZADEH SARAVI, M.H. KORAYEM, and S.R. NEKOO, “DESIGN AND IMPLEMENTATION OF THE OUTPUT FEEDBACK LINEARIZATION CONTROL METHOD TO DETERMINE THE DLCC OF 6R MANIPULATOR IN THIS STUDY, FEEDBACK LINEARIZATION (FL) FOR 6R MANIPULATOR,” INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, vol. 8, no. 3, pp. 59–66, 2015, [Online]. Available: https://sid.ir/paper/673754/en

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