LQR Feedback Linearization Method to Control the Motions of a Spherical Serial Mechanism

摘要

In the present paper, we propose a linear quadratic regulator feedback linearization (LQR-FL) method to control the motion of a spherical serial mechanism which has two degrees of freedom (DOF). The spherical serial mechanism is a part of a 5 DOF hybrid manipulator robot (parallel-serial). The dynamic model of the serial mechanism has been developed to demonstrate the system state model. Then it has been validated using SimMechanics after exporting the model designed by SolidWorks. Here, the objective is to control the system so that the end-effector of the robot (magnetic actuator) to reaches the desired position around the patient’s head. Using the developed dynamic model, the control problem was formulated to the serial spherical mechanism. To illustrate the efficiency of the proposed approach of control, some experimental results are given using LabView software.