A robot manipulator dynamic modeling and linearizing control

This paper presents a robot manipulator trajectory tracking based on a computed torque control and a linearizing Command with disturbance observer. The goal to reach in this paper is to improve the performances of a robot manipulator computed torque control by using the linearizing control with disturbance observer which estimates the disturbance acting on robot machine operating the robot. Simulation results on a three -degrees- of-freedom robot case.It demonstrates a high performance using the proposed control law.