Kinematics of industrial robot arm, dynamics calculations, trajectory planning, PID and control with fuzzy logic

Controllability of industrial robots has an important place in the application of control techniques. has. There are industrial robot systems in different structures developed to date. Industrial Examples of robots are medical robots, welding robots and service robots. These are three, four, five and can be used with six axes. Robot arm systems can be preferred for many purposes. To these Examples include transport robots in factories and painting robots used in dangerous places. In this study, the movement of the robotic arm in three dimensions was achieved by applying control methods. Robot While the position control of the arm was carried out, speed control was also carried out. This This study is very important for the realization of many systems. The first of the system kinematic and dynamic calculations were created. Matlab/Simulink after calculations In the environment, the robot arm is designed with three axes. Engine design required for the system in Matlab environment used. Position and speed control of the robot arm was controlled using the PID method and Then, control was achieved using fuzzy logic.