Design of multivariable controller based on feedback linearization for five-bar linkage manipulator

Kankashvar, Mohammad Rasoul; Kharrati, Hamed; Khorami, Ata

doi:10.1109/iraniancee.2015.7146342

Cited by 2 publications

(1 citation statement)

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“…Generally, these non-linearit ies are neglected by linearizing the system around the operating point so as to use the ordinary linear controllers. But these controllers are of little use in case the system is having significant non-linearit ies in the robot dynamics [19]. Many researchers have done great work for the design of non-linear controller for robot manipulators [19][20][21][22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Motion Control of Five Bar Linkage Manipulator Using Conventional Controllers Under Uncertain Conditions

Krishan¹,

Singh²

2016

IJISA

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Robot trajectory tracking has been the core functioning unit in the modern industrial environ ment wherein the accuracy in the motion control of robotic manipulators is the main area of research. Based on the fact that the working of these automatic robotic machines is highly influenced by the disturbances, this paper constitutes various conventional controllers for the motion control of five bar linkage manipulator. To verify the performance of proposed conventional controllers, these are made to work with two different trajectories. Co mmon disturbances like payload & friction has been incorporated in the five bar linkage manipulator system for validation purpose. Simu lation results prove that the performance of SMC based controller is better when co mpared with other conventional controllers.

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