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Nonlinear Control of 3 DOF PUMA Robot



13 Nov 2008 (Updated )

Nonlinear Control of 3 DOF PUMA Robot

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Three different nonlinear control algorithms are used to control a three degree of freedom PUMA560 robot. These algorithms are:
Computed Torque Control, Sliding Mode and Backstepping Control.

The robot dynamics are taken from:
Brian Armstrong, Oussama Khatib & Joel Burdick , “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm” , Stanford University, Artificial Intelligence Laboratory, IEEE 1986

Put the libraries lorenz3d, sfunxyz and m3dscope into your work folder of the MATLAB

Required Products Simulink
MATLAB release MATLAB 7 (R14)
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Comments and Ratings (12)
26 Aug 2014 Abdel-Razzak

Dear Mr. Balaji,
Everything should be included inside the file. any initial values/assumptions are given in the programs.

Good luck,

A. Merheb

Comment only

Dear sir,
I need the initial values for sfunxyz

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29 Apr 2014 Hassan Haouchine

hello sir Abderrazak-Thank you for your help on the site; I am doing a project on the neuron-fuzzy comande a puma 560 robot and I need your help to make the robot 3 degree of freedom if you can please

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21 Feb 2014 Abdel-Razzak

Dear Mr. Muzaffar,
I think that you have to make some changes in the "configuration parameters" [in simulink, go to Simulation (left upper side of the screen) --> configuration parameters]. Perhaps you have to make some changes in the "solver" part (only expecting but I don't know exactly the problem). Is the MATLAB installed completely???

Good luck

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20 Feb 2014 Muzzaffar

Mr. Abdel, i have this error while i run the simulation :
The specified configuration type is missing. The tools for the
configuration might not be installed.
'nmake' is not recognized as an internal or external command,
operable program or batch file

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13 May 2012 Benjamin


25 Jul 2011 Hmd

Hmd (view profile)

Thank's a lot, :-)

31 May 2011 manjeet dalal

dear Abdel-razzak,
I am doing M.tech and thesis on "Neural-fuzzy control for the robotic manipulator".could you help me to do this.
could you please make program and simulink model for this and please send to me on my E-mail ID-manjeet.dalal@gmail.com
i shall be highly thankfull to you.
you can see this topic on IEEE Explorer site.

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19 Nov 2008 Abdel-Razzak

The program with the given libraries is working well, I have tested it on other computers. Perhaps it's the MATLAB version or may be other things.

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19 Nov 2008 Stefan

Stefan (view profile)

Still the same error. You should do proper testing before publishing your work.

18 Nov 2008 Abdel-Razzak

Thanks Mr. Stefan
I have added the libraries, I hope the program will work now; please inform me.

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14 Nov 2008 Stefan

Stefan (view profile)

A library is missing, so the model isn't running:

Failed to find library 'aerolibutil' referenced by 'sliding_mode_control/3-Link PUMA Robot-Block 2/I matrix/B matrix/b112/SinCos(2*teta2+teta3)'. This library must be on your MATLAB path.

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17 Nov 2008 1.1

some libraries were missing... I added them

26 Nov 2008 1.2

The famous 'aerolibutil' library is added finally, along with some documents about the 3 dof PUMA 560 Robot

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