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 0-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 manipu-lator. Finally, This method is generalized to analysis and control a class of a 0-flat affine nonlinear multi-input dynamical systems for which we can build flat outputs to give structural normal flat forms. The computer simulations are given in the paper to demonstrate the advantages of the method.