%0 Journal Article
	%A A. Izadbakhsh and  M. M. Fateh and  M. A. Sadrnia
	%D 2007
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 5, 2007
	%T Discontinuous Feedback Linearization of an Electrically Driven Fast Robot Manipulator
	%U https://publications.waset.org/pdf/837
	%V 5
	%X 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.

	%P 1296 - 1301