Analysis of a proposed algorithm for point to point control of a 3 DOF robot manipulator

Industrial robots exhibit how human labor can be automated due to the evolution of automation. The control of robotic manipulators for industrial applications is a booming field of research. Precision is one of the major factors that is taken into consideration for the evaluation of performance in such manipulators. In this paper, an algorithm has been developed for a point to point controlled 3 DOF model of a spatial robot. Further, simulation studies were carried out and also tested in real life. A set of inverse kinematic equations have been developed which enables to derive a relationship between joint angles, length of links and the desired position in relation to the initial position (Homing position). This is then compared to an algorithm that is designed using rotation matrices with small incremental prediction to achieve minimum error. An analysis between inverse kinematics and the simplified proposed algorithm is done to compare performance characteristics, primarily focusing on accuracy on repeated testing. The two results are compared and it is observed that the proposed algorithm gives better accuracy than the conventional method.