الفهرس 
BRIEF HISTORY OF ROBOTSOnly 14 pages are availabe for public view
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Abstract
Articulated multi-Degree Of Freedom (DOF) robotic manipulators are widely used in industrial, medical and military applications. The most common industrial applications include welding, spraying, automotive and car assembly, picking and packing, milling, drilling and cutting and so on. The implementation of these tasks essentially requires having a good kinematic and dynamic models
of the robot and an accurate and stable motion control system. This thesis presents a full kinematics and dynamics modelling of a 5-axis articulated robotic manipulator. Modelling and designing of a Computed Torque Control (CTC) is presented, utilizing the dynamic model that has been developed
for the motion control problem. A fuzzy logic-based CTC is proposed to enhance
the conventional CTC and to deal with the un-modelled dynamics and uncertainties of the robot. Simulation results as well as experimental results are presented to verify the control technique and to compare it with the conventional Proportional Integral Derivative (PID) based CTC. That also requires Designing and building an entire control and computer interface system for the robot, thus the old, closed source controller is replaced.