Abstract
In the present paper, some recent theoretical results obtained from the analysis of the non-interacting control with simultaneous input-output linearization problem of nonsquare nonlinear systems, using restricted state feedback, are applied to the inverse dynamic control of an over-actuated three-link robot manipulator. The control purpose, in this paper, is to design a nonlinear restricted state feedback control law, such that the generalized coordinates related to links 2 and 3, to be independent of viscous and coulomb friction, and the input-output behavior of the closed-loop system to be I/O linearized and decoupled. The results of the paper offer a new perspective and some new insights to the inverse dynamic control problem of robot manipulators.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
