Electric Motor Controllerfor a Robotics Application

In this work, we are interested in the study of a number of electric motors inserted in a robotic chain. The study will be carried out in particular for the DC motor designed to drive a manipulator robot with two degrees of freedom. Thus, after modeling the robot assembly equipped with the machines, and developing the control algorithms, we simulate the control of this manipulator robot. After having obtained the simulation results, and to confirm the capacity of the chosen control of the system studied, a robustness test was carried out and the results are very satisfied.