Control by exact linearization with a simplified nonlinear feedback for robotic systems

A control strategy by exact linearization with simplified nonlinear feedback for robotic systems is proposed. Through the Hamiltonian canonical transformation, it is possible to find an equivalent but linearized robotic system as well as a compact relation between the original and transformed input control functions. The realization of the proposed control scheme requires the construction of an imaginary robot to accomplish a decomposition for the inertial matrix of robot. An overall control system block diagram based on the Hamiltonian canonical transformation and the design method of the controller are also presented.