Contouring control of 5-DOF manipulator robot arm based on equivalent errors

This paper is concerned with the contouring control problem of 5-DOF manipulator robot arm using the equivalent error technique. The proposed technique, equivalent errors, shows the performance for the manipulator robot arm. A desired path usually is described in terms of the position of the end-effector of the manipulator robot, but the dynamical system is described in generalized coordinates. The equivalent errors technique utilizes the forward kinematics to transform the desired path in the task space into that in the joint space. The equivalent errors technique can be easily defined for such that. The simulation results demonstrate the excellent performance of the proposed technique.