Puma 560 Robot Arm Manipulator

In this thesis study, GPC (Generalized Predictive Control) and Newton-Raphson implemented NGPC (Neural Generalized Predictive Control) algorithms belong to the class of MBPC (Model Based Predictive Control) are investigated and each of them is applied to a six joint robotic arm as SISO (Single Input Single Output) and MIMO (Multiple Inputs Multiple Outputs) for the joint based trajectory control. Dynamics modeling of the robotic arm is made by using the Lagrange-Euler equations. The frictional effects, the state of carrying and falling load are added to dynamics model. Dynamics model obtained is transformed into robotic arm simulator by using 4th degree Runge-Kutta integration method. The trajectory planning for the joints of the robotic arm is designated according to the cubic and sinusoidal trajectories principles. The control algorithms are compared with themselves for different examples and cases. The simulation program included all of these is prepared by using Borland Delphi 6.0 programming language.