To make an appropriate choice of linear model for the development of real‐time control of robot manipulators, four direct linearization schemes have been studied here on the basis of computation and accuracy. Accuracy is assured in the state linearization method, whereas the rate linearization method leads to a satisfactory trade‐off between computational effort and accuracy. In the case of high‐velocity motions, a combination of state and rate linearization is proposed. Copyright © 1992 Wiley Periodicals, Inc., A Wiley Company

Madan Gopal

Electrical Engineering

(SoE) School of Engineering

A. Swarup

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