摘要：In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.
其他摘要：Bu çalışmada 5 serbestlik dereceli bir robot kolunun dinamik modellenmesi gerçekleştirilmiştir. Modellemesi yapılacak robot kolu 3 uzuvlu her biri dönel 5 eklemli toplam 5 serbestlik derecesine sahip uzaysal bir koldur. Dinamik modelleme için Lagrange-Eul
关键词：Robotic arm;Dynamic Equations;Trajectory;Position Control;PID control
其他关键词：Robot kolu;Dinamik denklemler;Yörünge;Konum kontrölü;PID kontrol
