On Approximate Feedback linearization of Robot Manipulators

摘要

In this research, a control scheme is proposed that provides a control law with lower complexity via an approximate feedback linearization methodology. This method uses the idea of exact linearization of an approximate imaginary robot with an inertia matrix that has zero Riemannian curvature. An optimal leastsquare procedure is presented for the selection of system parameters that reduces the tracking errors considerably.