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In order to enhance the study of the kinematics of any robot arm, parameter design is directed according to certain necessities for the robot, and its forward and inverse kinematics are discussed. The DH convention Method is used to form the kinematical equation of the resultant structure. In addition, the Robotics equations are modeled in MATLAB to create a 3D visual simulation of the robot arm to...
The purpose of this paper is to propose a method for simulation of a manipulator robot with six degrees of freedom. This method is oriented to solve the problem of absence of real robots which will operate it in validation of mathematical modeling and control of the nonlinear systems. It described in the first part the geometry of the robot manipulator, then the method is used to create this simulator...
This paper presents the robustified form of generalized dynamic inversion control and its application to attitude control for satellite launch vehicle. In proposed control law, dynamic constraint is prescribed in the form of asymptotically stable differential equation that encapsulate the control objectives. The constraint differential equation is evaluated along the vehicle's attitude trajectories...
This paper presents a PID fast terminal sliding mode dynamic inverse control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. The PID Control is based on a fast terminal sliding mode control to ensure asymptotic stabilization of the robot's position and orientation...
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