Sharif Digital Repository

In recent decades, the usage of robots in industrial applications increased dramatically. One group of robots are manipulators which they are used in production lines for moving parts, cutting, welding, …. In these applications, different control methods are used to control the end effector of manipulators precisely. From one aspect, control methods are divided to two parts: A) The methods that do not need to equation of motion of robot, such as proportional-integral-derivative method. B) The methods that are designed based on equation of motion of robot. To use these methods, first the equation of motion of manipulator should be calculated according to its structure. These equations are...