Control and simulation of a robot of two degrees of freedom: implementation of a new algorithm of control

The objectives of this paper are to present a simulator program of a robot of two degrees of freedom and introduce a new controller scheme on joint space. The simulator is designed based on the dynamic model of the prototype and using a controller with stability proof we can locate the end-effector of the robot in a specific point. The kind of control that we use to programming the simulator is the position control type.