A Akramizadeh
M Ghaeni
M Kariman

this paper reports on comlete design procedure f a rbot designed and cnstructed at fersowsi university f mashhad our robot consists of five revolute joints actuated with DC motors PWM has been used to switch pwer MOSFETs in H-bridge configuration computercommands are being sent thrugh ISA BUS.considering the fact that the robot system involves high levels of uncertainty and nonlinearity decentralized control simple PID and PIDwith afuzzy supervisor that schedules gains are realized and experimental results are compared

Manipulator-robot kinematics and dynamic-PWM-Hbridge-Pid-and fuzzycontrol