@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}, }