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Nonlinear Control of 3 DOF PUMA Robot

version 1.2.0.0 (386 KB) by Abdel-Razzak
Nonlinear Control of 3 DOF PUMA Robot

7.1K Downloads

Updated 31 Mar 2016

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Three different nonlinear control algorithms are used to control a three degree of freedom PUMA560 robot. These algorithms are:
Computed Torque Control, Sliding Mode and Backstepping Control.
The robot dynamics are taken from:
Brian Armstrong, Oussama Khatib & Joel Burdick , “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm” , Stanford University, Artificial Intelligence Laboratory, IEEE 1986

Put the libraries lorenz3d, sfunxyz and m3dscope into your work folder of the MATLAB

Cite As

Abdel-Razzak (2021). Nonlinear Control of 3 DOF PUMA Robot (https://www.mathworks.com/matlabcentral/fileexchange/22077-nonlinear-control-of-3-dof-puma-robot), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R14
Compatible with any release
Platform Compatibility
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