Robot Motion Control Dynamics using Feedback Linearization Technique

摘要

An analysis and modeling of a robot motion is presented in this article. The proposed robot system is containing non-linearities in its characteristics. In this article, deliberate introduction of non-linearities in the real system is reflected and the controller is investigated for performance improvement over that of non-linearities. The presented work is a basic control study of the manipulators with variable joints by a further set of commands. Feedback linearization technique are ready to exactly linearize the closed-loop equations. Simultaneously, imposed a behavior to the robot motion. The dynamics control mechanism of a robot is shown by feedback linearization technique in this article.