This research presents a pole-placement method for designing of a feedback controller for a robot. The idea of proposed method is derived from the fact that the internal signals of a feedback control system can be eliminated by executing row operations. The design method can be implemented easily and insightfully on Diophantine equations after choosing proper closed-loop poles. In this paper, a 5-bar-linkage manipulator is considered as a case study and the controller has been designed based on the governing Euler-Lagrange equations on the robot. The superior features of this method are its simplicity and flexibility to apply on various control systems
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