@article{(Open Science Index):https://publications.waset.org/pdf/837,
	  title     = {Discontinuous Feedback Linearization of an Electrically Driven Fast Robot Manipulator},
	  author    = {A. Izadbakhsh and  M. M. Fateh and  M. A. Sadrnia},
	  country	= {},
	  institution	= {},
	  abstract     = {A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.
},
	    journal   = {International Journal of Electrical and Computer Engineering},
	  volume    = {1},
	  number    = {5},
	  year      = {2007},
	  pages     = {1296 - 1301},
	  ee        = {https://publications.waset.org/pdf/837},
	  url   	= {https://publications.waset.org/vol/5},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 5, 2007},
	}