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R. T. Elkhouly

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Conference Open access Jul 2026

Dynamic modeling and ROS 2-control architecture for a six degree of freedom robotic manipulator with performance comparison of PID, gravity compensation, and full inverse dynamics controllers

This paper presents the dynamic modelling and control evaluation of a six-degree-of-freedom serial robotic manipulator simulated in Robot Operating System 2 Jazzy and Gazebo. The rigid-body dynamic model is derived via the Denavit–Hartenberg convention and includes the full inertia matrix M(q), Coriolis and centrifugal...

A. H. Hussein, R. T. Elkhouly, M. Abdel-Mottaleb · 0 citations

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