• DocumentCode
    3266261
  • Title

    On Approximate Feedback linearization of Robot Manipulators

  • Author

    Moghaddam, Majid M. ; Bazaei, Ali

  • Author_Institution
    Department of Mechanical Engineering, Tarbiat Modarres University, Tehran, Iran. mogaddam@modares.ac.ir
  • fYear
    2003
  • fDate
    12-12 June 2003
  • Firstpage
    178
  • Lastpage
    182
  • Abstract
    In this research, a control scheme is proposed that provides a control law with lower complexity via an approximate feedback linearization methodology. This method uses the idea of exact linearization of an approximate imaginary robot with an inertia matrix that has zero Riemannian curvature. An optimal leastsquare procedure is presented for the selection of system parameters that reduces the tracking errors considerably.
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control and Automation, 2003. ICCA '03. Proceedings. 4th International Conference on
  • Conference_Location
    Montreal, Que., Canada
  • Print_ISBN
    0-7803-7777-X
  • Type

    conf

  • DOI
    10.1109/ICCA.2003.1595008
  • Filename
    1595008
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3266261