Feedback Linearization Control of a Two – Link Gripping Mechanism

Abstract

This paper presents a feedback linearization controller for trajectory tracking of two degrees of freedom (2DOF) gripping mechanism. To reach this goal, after deriving the dynamical equations of the gripping mechanism, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one. Classical proportional-derivative controller with feedback linearization is applied for positioning and tracking control. Furthermore, in order to achieve movement of the mechanism without the sudden stopping at the desired point, a trapezoidal velocity profile is used to obtain desired trajectory. Numerical simulations using Matlab/Simulink successfully demonstrate the effectiveness of the proposed method.