Control of Puma-560 Robot Using Feedback Linearization Control Method and Kalman Filter Estimator for Regulation and Tracking Purpose


Authors

Ehsan Zakeri - Department of Mechanical Engineering, Shiraz branch, Islamic Azad University, Shiraz, Iran. Seyed Alireza Moezi - Department of Mechanical Engineering, Shiraz branch, Islamic Azad University, Shiraz, Iran. Mehdi Zare - Department of Mechanical Engineering, University of Sistan and Baluchestan, Zahedan, Iran. Mostafa Parnian Rad - Department of Mechanical Engineering, University of Sistan and Baluchestan, Zahedan, Iran.


Abstract

This research is presented to control a PUMA 560 robot which is well-known industrial robot with six degrees of freedom. It is a RRRRRR robot type which can do various tasks such as point welding in automotive industry and similar industries. The mathematical model is derived from dynamical equations by the means of Euler-Lagrange method. Stochastic feedback linearization with Kalman filter controller is implemented to control the PUMA 560 robot end effector.The regulation and tracking results are represented. The controller is examined in normal situation and even in presence of disturbances. Finally, the results indicate good performance of the controller.


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