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ReserarchID
0N1R6
Crossref Journal DOI 10.17406/gjre
Print ISSN 0975-5861
e-ISSN 2249-4596
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This article presents a study of Three PID controller technique of a 2-Revelutejoint robot. First we present Denavit-Hartenberg parameters for 2-R robot. Then we studied the dynamics of the 2-R robot and derived the nonlinear equations of motion. A PID controller has been implemented for three types of modeling technique: model based on linearization about equilibrium point, model based on Autodesk Inventor and Matlab/Simulink software’s, and lastly model based on feedback linearization of the robot. A comparison between the three controllers is presented showing the effectiveness of each technique.
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