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Modeling and Control of 5250 Lab-Volt 5 DoF Robot Manipulator †

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Abstract

Abstract –This paper presents the modeling and control simulation for Lab-Volt 5250 five degree of freedom robot manipulator based on the standard Denavit- Hartenberg approach. The dynamic model of the robot derived using Euler- Lagrange equation which is the energy balance equation. This dynamic model has a very high nonlinearity that is represented by using MATLAB, m-file and simulation to run the dynamic model in open and close loop. In this research, the close loop simulation is done by using two types of control theory that applied to control each joint of the robot manipulator independently, the first one is PD controller and the second one is an intelligent controller which is PD-like fuzzy controller used to control the joint position.

Keywords

Denavit- Hartenberg --- Dynamics --- PD --- Fuzzy.

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