seguimiento de trayectorias en manipuladores robóticos usando differential flatness

This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalized coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space.