Investigation of control methods and productivity analysis of a 3 axis robot arm

The aim of this thesis is to examine the efficiency of the system by comparing the responses of the Scara robot arm with the reference input using P, PI, PD and PID controllers in the virtual environment of the PRR Scara robot arm with 3 degrees of freedom. Developing and developing countries of the world, defense technology and industrial industry technologies since the 20th and 21st century; They have adopted the task and vision of ensuring the smooth production of low cost, high quality and production in a short time. For this reason, many industrial organizations prefer machine power instead of manpower in order to realize the production flawlessly and smoothly in a short time. Thanks to the rapid technological developments experienced today, robots and robot arms used in the applications of many organizations in the industry benefit from features such as working under heavy load, continuous operation and low error, and efficiency is obtained from robots and robot arms in many industrial industries. Robots, which are widely used in the industry, differ according to the areas in which they are used. Robot arms operate in many areas from cutting to welding, from assembly to painting. The working life of the robots also varies according to the environment conditions in which they work. Therefore, the working environment temperature, location and working space of the robots affect the efficiency of the robot. This thesis study was carried out with simulation. By performing the kinematic calculations of the 3-axis robot arm, the working space and position of the robot were calculated and solved in Matlab. In this thesis, a comparison has been made on efficiency in the control methods of the 3-axis robot arm. Considering the fact that there is no study on this subject in the literature, considering the necessity of optimum solution and the necessity of reaching easy results, it was written in order to contribute to the thesis study to be made and it was aimed to be a reference for those who will work on the subject in the future.