الفهرس | Only 14 pages are availabe for public view |
Abstract This thesis introduces a comparative study for some techniques to control the robot arm . The thesis starts with a study of the manipulator kinematics and dynamics . The thesis then surveys some teclmiques to control that manipulator Control techniques can be classified into three families namely ; Analytical techniques table look-up techniques , and hybrid techniques . Three algorithms were selected from the three previous families , programmed on the computer , and compared . The comparative study takes into account four criteria namely ; The memory size , the amount of computations , the steady state error , and the speed of response It was concluded that the third technique was the best as it requires reasonable memory size and relatively foe w amount of computations - |