Trajectory Tracking Control of Robot Manipulator Using Flatness Based Approach

A design procedure using flatness based approach for position control of (2DOF) planar robotic manipulators is developed. Our approach is based on two steps. First a nonlinear transformation is made in order to derive two new O-flat normal forms for a class of non-linear systems. Second a dynamic control law is then proposed to achieve stable position tracking for a robot manipulator. Finally, This method is generalized to analysis and control a class of a O-flat affine nonlinear multi-input dynamical systems for which we can build flat outputs to give structural normal fiat forms. The computer simulations a re given in the paper to demonstrate the advantages of the method.