الفهرس 
INTRODUCTIONOnly 14 pages are availabe for public view
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Abstract
This thesis introduces a comparative study for some
techniques to control the robot arm . The thesis starts
with a study of the manipulator kinematics and dynamics .
The thesis then surveys some teclmiques to control that
manipulator Control techniques can be classified into
three families namely ; Analytical techniques table
look-up techniques , and hybrid techniques .
Three algorithms were selected from the three previous
families , programmed on the computer , and compared .
The comparative study takes into account four criteria
namely ; The memory size , the amount of computations ,
the steady state error , and the speed of response
It was concluded that the third technique was the best
as it requires reasonable memory size and relatively
foe w amount of computations
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