Abstract
The movement of a robot manipulator with four joints is analyzed and mathematically modeled. The kinematic and dynamic models of the manipulator for each hinge are considered. A PID controller is designed using MatLab/Simulink systems. The results of the proposed controller operation are presented and compared with the data of the reference signal and the output of the system without control. Keywords kinematic model, dynamic model, manipulator, PID controller, MatLab, robot manipulator, hinge
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