investigation of steel slabs marker robotic arm control parameters in noise and disturbance absence/presence

At mobarakeh steel company, the writing on steel slabs is currently performed by manual labor, which has several negative consequences. to address this issue, a project has been initiated to implement robots instead. a robotic arm with five degrees of freedom (three related to the arm and two related to the wrist) has been developed to write letters and numbers on the steel slabs. this article details the design, dynamics, and control of the robotic arm. the dynamics were solved using the newton-euler method, while the robot's control was calculated using the computed torque method. additionally, the robustness of the designed controller against noise and disturbances was evaluated. the effectiveness of the controller's performance was demonstrated through simulations. furthermore, the robot's path was examined to ensure it did not cross any singular points. the results indicated that the robot's passage through its singular point was monitored, and it was confirmed that the robot did not cross the singular point.