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