Control of a Class of Manipulators With a Single Flexible Link: Part I—Feedback Linearization

[+] Author and Article Information
D. Wang

Department of Electrical Engineering, University of Waterloo, Waterloo, Ontario, Canada N2L 3G1

M. Vidyasagar

Center of Artificial Intelligence and Robotics, Bangalore, India

J. Dyn. Sys., Meas., Control 113(4), 655-661 (Dec 01, 1991) (7 pages) doi:10.1115/1.2896471 History: Received July 03, 1990; Revised September 18, 1990; Online March 17, 2008


The subject of this paper is the feedback linearization of the input-output and input-state equations for a class of multi-link, three degrees-of-freedom manipulators with the last link flexible. This class includes the 5-bar-linkage and the elbow manipulator. It is shown that the input-output equations are only feedback linearizable if the output variables are chosen appropriately. However, the nonlinear dynamics made unobservable by this feedback are not asymptotically stable which is a severe drawback. It is then shown that the input-state equations are not feedback linearizable. These results indicate that feedback linearization techniques are not appropriate for this class of manipulators. Thus, alternate methodologies should be explored. That issue is tackled in Part II.

Copyright © 1991 by The American Society of Mechanical Engineers
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