Multi axis articulated robot design and control

In today's world, the concept of gir robot has entered many areas of our life. With the development of technology, autonomous control of systems, the development of production systems and the production power of these systems are developing and changing day by day. The most important factors of this development and change are undoubtedly the robots used in the systems. These robots are used in many industries that require manual or autonomous control, especially in the industrial area. Autonomously controlled type robots have the ability to process without any external effect and to take images. Since they are stable in structure and can work without interruption, the margin of error is minimized and quality results are achieved. In this thesis, 3D design of a 6-legged spider robot and its control in Matlab base were performed in order to be able to control the factors such as spraying, irrigation or collection at the right time in the field of greenhouse farming without external intervention. In the design phase, the Solidworks design program, the Simulink stage, and the library MatlabR2017b were used. Unlike the anatomical structure of spiders, the leg structure is designed to be 60 degrees apart to maximize the equilibrium factor. The camera is positioned in the center of the chassis with the extended neck structure for image processing. The control of the robot was made with PID and Fuzzy control in the simulink environment. The interpolation technique was used to send the robot to the desired coordinates in the X-Y coordinate system. The weights of all parts of the spider robot are entered as the same as the actual parts weight values. The values were taken in both control types by taking motion on flat ground, movement on inclined ground, different weights and different friction coefficients. Based on the values taken, Fuzzy and PID control types were compared.