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Input-Output Linearization of planar 3-link manipulator

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Control of 3-link manipulator

Fphi=equaphi(phi)
function Fphi=equaphi(phi)
global phi_i phi_f T f_i;

Fphi=[((phi(1)*T^5 + phi(2)*(T^4) + phi(3)*(T^3) +(T^2)*f_i/2+phi_i-phi_f));
    ((5*T^4)*phi(1)+ (4*(T^3))*phi(2)+3*(T^2)*phi(3)+2*T*(f_i/2));
    ((20*(T^3)*phi(1)+12*(T^2)*phi(2)+ 6*T*phi(3) + 2*(f_i/2)))];
end

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