الفهرس 
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Abstract
This thesis investigates the mechanical design of a vertically articulated four degrees-offreedom
(DOFs) laboratory spatial manipulator arm as a case study with regard to
dynamic modeling and true digital control, in which the design of the control system is
conducted in discrete time, starting from the identification and estimation of the
appropriate nonlinear model ending to the real-time implementation of the control.
The robot motion tracking control is one of the challenging problems because of highly
coupled nonlinear and time varying dynamics, therefore the development of an accurate
dynamic model for design and control of robotic systems is in need. The dynamic
analysis of the manipulator arm has been conducted using two distinct approaches. The
first approach is rigid body dynamic analysis based on Finite Element Method (FEM), in
continuous time, which shows complete coincidence with the conventional rigid body
dynamic analysis. The second approach is the Data Based Modeling (DBM) for which
the nonlinear State Dependent Parameter (SDP) discrete time transfer function (TF) is
developed for each joint. Both approaches are compared to each other and benchmarked
with the real time implementation of the manipulator arm, to practically choose between
them.
As second stage of this thesis, the control methodology is carried out using the
representation of the nonlinear dynamical system in nonlinear SDP form, in which the
parameters vary as functions of the state variables. This linear-like structure of the SDPTF
model is subsequently used to design the control law of the four joints of the
manipulator arm using the linear system design strategies.