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Input-Output Linearization of planar 3-link manipulator

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Control of 3-link manipulator

linkparameters.m
%% Parameters of the 3-link manipulator
% Authod Vikash Gupta
clc; clear all;
global m a T f_i;
global Xi Zi phi_i;
global Xf Zf phi_f;

T=20; % time of simulation
inaac=0.9; % in accuracy in the model mass
f_i=0.01;   % acceleration in cartesian space
inaccl=1;  %inaccuracy in 
m=[0.5;0.25;0.1]; 
a=[2;1;0.5];


Kp=[8;15;12];
Kv=[10;5;8];

%% Defining the path

Xi=1.2396; Zi=2.0868; phi_i=2.9671;
% Xf=0.866; Zf=-2.1836; phi_f=3.3161;
Xf=0.3878; Zf=2.6932; phi_f=3.4907;
cartesianVelo_i=[0.001;0.001;0.001];


x0=[1;0;0];
[ax,fvalx]=fsolve(@equax,x0);

z0=[1;0;0];
[bz,fvalz]=fsolve(@equaz,z0);

phi_0=[0;0;0];
[cphi,fvalphi]=fsolve(@equaphi,phi_0);

[theta_i,theta_dot_i]=invkine(Xi,Zi,phi_i,cartesianVelo_i);


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