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Modeling and implementing the behavior of RR robot using FPGA

In modern robotics and automation systems, control and estimation techniques are essential tasks. In this paper, the mathematical model of a non-linear RR manipulator is developed. To realize it, the circuit design of the system is described first in detail, and then implemented on the FPGA (field programmer gate array) prototyping board. The results show that the implementation of the system requires a minimal amount of FPGA resources.