Nonlinear Control of 3 DOF PUMA Robot

Nonlinear Control of 3 DOF PUMA Robot

Description

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)

[Stefan]

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.

[Abdel-Razzak]

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

[Stefan]

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

[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.
thanks

[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 [e-mail]
         i shall be highly thankfull to you.
     you can see this topic on IEEE Explorer site.

[Hmd]

Thank's a lot, :-)