presented an optimized design for a mobile welding robot based on the analysis of its workspace. presented an efficient algorithm to compute the inverse kinematics of a general 6R serial kinematic chain based on a classical multidimensional geometry. presented a controller based on first-order decoupled equations of motion for rigid serial manipulators based on a modification of equations expressed in the form of generalized velocity components. Borboni proposed a numerical algorithm based on fuzzy logic to solve the inverse kinematic problem of a serial manipulator. developed a technique applied to reduce the third order inversion of the Jacobian to an n-th order inversion of the product by formulating the n-link robot equation as a spatially recursive algorithm. Thomas and Tesar presented the derivation of a rigid-link model for the serial manipulator, which reduces all of the arm’s dynamic properties to their effective values at the generalized inputs. To successfully fulfill the desired task, the kinematics and dynamics of a serial manipulator must be studied first, and then the controllers also need to be designed and implemented in the mechanical manipulator system. A serial manipulator is analogous to the human hand, and the end-effector can be designed to perform any desired task. Parts of all of the joints are actuated and extend from a base to an end-effector. A serial manipulator consists of a series of links, connected by joints, which can be moved translationally or rotationally. Serial manipulators are the most commonly used robots in industrial applications.

Pid sin control design labview