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Nonlinear Control of 3 DOF PUMA Robot 1.0

  Date Added: March 24, 2013  |  Visits: 267

Nonlinear Control of 3 DOF PUMA Robot

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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
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License: Freeware Size: 389.12 KB
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