Zennir Youcef2024-06-132024-06-132017-04-012543-3792http://dspace.univ-skikda.dz:4000/handle/123456789/2050The paper focuses on the use of multi-controller approach to control a robot wrist (STÄUBLI robot RX 90). The descriptions of a nonlinear mathematical model of the process have been presented with the local parametric models around operating points. Controller design of a conventional PID, IMC control, LQG control and Hv (loop shaping) has been described around each selected operating points for each local parametric models. Finally , in order to show the efficiency of the proposed method, some simulation results in CAO 3D solid-works and MATLAB environments are given.enIMC Multi-Controller Strategies applied on a Manipulator RobotArticle