A Comparative Study of Feedback Linearization and PD Controller for 3DoF Robot Manipulator

This paper is concerned with the feedback linearization and PD control of a 3DoF robot manipulator. The theory to derive a linearizing control law for a certain type ofdynamic equations is reviewed and the model for a particular manipulator is derived. Based on this model a linearizationcontroller is designed and its tracking performance is comparedwith PD-computed torque controller. The feedback linearization approach can guarantee the stability and satisfactory trackingperformance. The performance of closed-loop system is demonstrated that the feedback linearization controller method improves theperformance of the closed- loop system with better trajectory tracking specification and less tracking error.

Keywords:

Computed torque , feedback linearization , PD control , robot manipulator