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Input-Output Linearization of planar 3-link manipulator

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Control of 3-link manipulator

Fz=equaz(z)
function Fz=equaz(z)
global Zi Zf T f_i;

Fz=[((z(1)*T^5 + z(2)*(T^4) + z(3)*(T^3) +(T^2)*f_i/2+Zi-Zf));
    ((5*T^4)*z(1)+ (4*(T^3))*z(2)+3*(T^2)*z(3)+2*T*(f_i/2));
    ((20*(T^3)*z(1)+12*(T^2)*z(2)+ 6*T*z(3) + 2*(f_i/2)))];
end

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