Three-dimensional trajectory tracking in mechatronic systems

İntelligent Mechatronic Systems have gained great importance with the developing technology. Most of the mechatronic systems consist of robots. Robots have autonomous mobile systems and have many types. In this thesis, robotic fish and robot arm systems used in different robotics fields have been studied. Modeling has been required to analyze and control the specified systems. The robotic fish system has been modeled using Lagrange Mechanics on MATLAB/Simulink environment. The robot arm system has been modeled in SimMechanics environment. The modeled robotic fish has been controlled by Proportional Integral Derivative Control (PID) and Sliding Mode Control (SMC). The modeled robot arm has been controlled by using PID and straight kinematic equations. Three dimensional trajectory tracking has been realized for the robotic fish and robotic arm by using the position vector approach and the inverse kinematic equations respectively. As a result, three dimensional trajectory tracking has been applied to different mechatronic systems with different control algorithms. Key Words: Three Dimensional Trajectory Tracking, Mechatronic Systems, Robotic Fish, Robot Arm, Proportional Integral Derivative Control, Sliding Mode Control