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<p>The first step in designing a controller for a manipulating arm is to determine its configuration, which means, analyzing the main components that make up the mechanism. A manipulating arm is composed of joints, motors, sensors and other elements, which are linked to conform the different degrees of freedom (generalized coordinates: prismatic, rotational or a combination of both, which is presented as the most unusual), which allow the calculation of the dynamic model implemented to obtaindoi:10.3991/ijoe.v13i10.7498 fatcat:zv2hyiembvdcvmbuqkp2z5t7ea