Abstract

This article presents a study of Three PID controller technique of a 2-Revelutejoint robot First we present Denavit- Hartenberg parameters for 2-R robot Then we studied the dynamics of the 2-R robot and derived the nonlinear equations of motion A PID controller has been implemented for three types of modeling technique model based on linearization about equilibrium point model based on Autodesk Inventor and Matlab Simulink software s and lastly model based on feedback linearization of the robot A comparison between the three controllers is presented showing the effectiveness of each technique