A robot arm is a dynamically complex system due to the dynamic coupling between articulating components of the arm and to nonlinearity arising from changing configuration and payload. These complexities necessarily complicate the control which has to account for dynamics as the robot performs its assigned tasks with the required speed and accuracy. If the nonlinearities could be eliminated, then the dynamics and control would be substantially improved. This project addresses that concept and determines the feasibiIity of fabricating a three link dynamically linearized robot.
