Optimized Kinematic Control for a 3DOF Robot Manipulator

Abstract

The robot manipulator can be built of several arms, with the joints between the arms (angle joints) attached to motor drives. In general, a robot manipulator has the task of adjusting the position of the end of the robot’s arm (often called the end effector) according to a certain trajectory, by rotating the motors at a certain calculated angle so that the end effector follows the intended trajectory. This paper aims to design the controller by optimizing the designed controller gains based on the kinematic model. The obtained controller gains proved to have a more optimal performance. To verify the proposed method, the performance is visually represented using Multibody and Simulink.