The kinematic analysis and pid control of a 6-axis robotic arm

Robots are equipments that can perceive, think, plan and move independently. In addition to performing tasks independently, they can also expand human capabilities. There have been great developments in the field of robotics in recent years, robots have become smarter, have reached the capacity to perform complex tasks and have begun to be widely used in a wide variety of applications. These developments have led to great changes in our lives and robots have now become an integral part of our professional and personal lives. The robotics industry has witnessed great development in the modern era. Great progress has been made in the field of robotics thanks to developments in technologies such as electronics, sensors and artificial intelligence. During this period, robots have become able to perform tasks independently, such as robots used in factories, hospitals and the military. The robotics sector is in constant development with the goal of becoming smarter and being able to perform tasks more independently. Robots have greatly changed human life in various areas, both in our professional and personal lives. Robots have entered various areas in our professional lives such as industry, medicine, education, entertainment, security, logistics, agriculture, research and development. Science, space, construction, cleaning, sterilization, shopping, delivery, translation and facial recognition. It has advanced in areas such as voice, text, shape, color, motion analysis and similar areas. In this thesis study, the solid model of the six-degree-of-freedom IRB 1200 model robot arm modeled by ABB company was designed and then transferred to the Matlab/Simulink environment. In the Matlab/Simulink environment, certain positions were determined and turned into trajectory, after these positions passed through the homogeneous transformation, they were transferred to the inverse kinematics solution block to determine the angle requirements for each robot axis, the inverse kinematics block was transferred to the DC motors, then the angle requirements were transmitted to the joints of the IRB 1200 model robot arm that we transferred to the Matlab/Simulink environment and finally transmitted to the forward kinematics block to obtain position information. However, it was observed taht input and output information that were not at the same value, then the control system was added, P.I.D was selected as the controller and a system control was connected for each joint. The robot arm position control has been achieved in this way and very low errors and results close to the reference positions were observed. 2025, xii + 74 pages Keywords: Robot Manipulator, Forward Kinematics, Inverse Kinematics, Motor Control System, Simulink, Homogeneous Transformation, Robot Arm.