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Input-Output Linearization of planar 3-link manipulator

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from Input-Output Linearization of planar 3-link manipulator by Vikash Gupta
Control of 3-link manipulator

Fphi=equay(phi) 
function Fphi=equay(phi)
global phi_i phi_f T;

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

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