Abstract—In recent decades, robotics and artificial intelligence have gained significant importance for their involvement in various industrial processes currently at their peak. Nevertheless, advanced robots are not designed explicitly for lemon supply. This research aims to develop a manipulator robot with 5 degrees of freedom and control its trajectories for lemon supply purposes. To achieve this goal, kinematic and dynamic calculations of the manipulator robot were performed, along with the development of programming code in Matlab to determine its trajectories, positions, speeds, and accelerations. In addition, the Proportional Integral Derivative (PID) tuner was used to obtain the optimal controller parameters and ensure accurate joint trajectory generation.

Keywords—robotic arm, Proportional Integral Derivative (PID) controller, robot path, control, modeling, human-robot interaction

Cite: Henry Peralta-Caprachin, Raul Angeles-Orahulio, and Ernesto Paiva-Peredo, "Design and Position Control of a Robot with 5 Degrees of Freedom," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 2, pp. 241-248, 2024.

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