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Input-Output Linearization of planar 3-link manipulator

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Control of 3-link manipulator

erros.m
figure(1)
subplot(3,1,1)
plot(tout,ex(:,2));
grid on
ylabel('E_x');
title('Errors (Model with 10 percent inaccuracy)');
subplot(3,1,2)
plot(tout,ez(:,2));
grid on
ylabel('E_z');
subplot(3,1,3)
plot(tout,ephi(:,2)*180/pi)
grid on
ylabel('E_{phi} (in degrees)');
xlabel('Time (in secs)')

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