The aim of this work is to present a practical guide to implement a controller for an industrial manipulator. The contents here presented are especially dedicated to a beginner in robotics. The necessary equations and methodologies are presented, although sometimes the explicit derivations are omitted, as this could lead to a loss of interest. The reader is encouraged to work in his or her specific control problem while reading this work. Of course, whenever the urge of knowing the steps leading from one expression to another appears, the source is available so that the person concerned may find what is looking for. Along with the theory, during the course of the explanations a controller for a real manipulator is designed. After every step, the results of applying the presented equations to the example are shown. This work ends with the numerical simulation of the aforesaid manipulator, including the recording of the movements of a 3D model of the robot. Even when no experimental results are presented, by the use of the 3D model it is possible to have an insight on how the robot would react with the designed controller. Also, some other control strategies different from the main one are introduced. Furthermore, the reader will find in the bibliography all the necessary to keep learning long after finished reading these pages.

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