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چکیده
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Due to its easy implementation, linear PID controller is generally used to control robotic manipulators. However, linear controllers cannot effectively cope with uncertainties and the variations of parameters. Therefore, nonlinear controllers with robust performance which can cope with uncertainties and the variations of parameters are recommended. Inverse dynamic controller (IDC) with integral action is a nonlinear controller adopted due to its capability of deleting disturbances and other uncertainties of system. Due to its inherent non-linearity, IDC is considered as a robust controller where the variations of robot parameters do not affect its performance. In order to track the desired trajectory more accurately and completely, the IDC controller is capable of disturbance rejection. In this paper, initially, we have discussed about the characteristics, mechanics and kinematics of IRB-120 robot manipulator and then, control of robot manipulator position using inverse dynamic control has been discussed. For validation, the proposed control method was implemented on 6- DOF IRB-120 robot manipulator and results were simulated and tested in MATLAB/Simulink environment.
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