Nonlinear Control of 3 DOF PUMA Robot 1.0

Date Added: March 24, 2013 | Visits: 522

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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 , d-deDUThe Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Armd-deDt , Stanford University, Artificial Intelligence Laboratory, IEEE 1986Put the libraries lorenz3d, sfunxyz and m3dscope into your work folder of the MATLAB

Requirements: No special requirements

Platforms: Matlab

Keyword: Control, Dof, Nonlinear, Puma, Robot, Scripts

Users rating: 0/10

License: Freeware

Size: 389.12 KB

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