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Input-Output Linearization of planar 3-link manipulator

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Control of 3-link manipulator

jacobians.m
syms a1 a2 a3 theta1 theta2 theta3

X_act=[a1*cos(theta1)+a2*cos(theta1+theta2)+a3*cos(theta1+theta2+theta3);
        a1*sin(theta1)+a2*sin(theta1+theta2)+a3*sin(theta1+theta2+theta3);
        theta1+theta2+theta3];
    
J1=simplify(jacobian(X_act,[theta1, theta2, theta3]));

a1=a(1);a2=a(2);a3=a(3);

theta1=theta_i(1);
theta2=theta_i(2);
theta3=theta_i(3);
eval(J1)

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