function [torque1, torque2,torque3,torque4,torque5,torque6] =PUMAdynamics(theta1, theta1d,theta1dd, theta2,theta2d, theta2dd, theta3, theta3d,theta3dd,theta4, theta4d,theta4dd, theta5, theta5d,theta5dd,theta6, theta6d,theta6dd) TORK 1 THETA 1 KONTROL BLOGU KONTROL BLOGU PID BLOK DISCRETE TIME MOTOR MODEL THETA 1 ISTENEN ve GERÇEKLEŞEN THETA 1 ISTENEN ve GERÇEKLEŞEN HATA HATA