Design and Optimization on Accurate Trajectory of Robotic Manipulator

For systems to act efficiently, there has to be good enough control over the system to achieve desired behavior. The tracking trajectory is one characteristic that comes into the picture while analyzing a particular system's efficiency. Thus, there has to be a focus on achieving minimum error while tracking the trajectory. Henceforth, further approaches have been discussed in order to achieve the same. Moving on, the first approach gives a deeper dive into the mathematical and physics-based approach where error variation in 2-D Planar objects is compared with 3-D Planar objects. At the same time, the setbacks have been presented and a deep discussion involving robot dynamics has been explored in order to overcome the same. In further quest to improve its efficiency, proportional-integral-derivative controllers, classic Ziegler-Nichols method, and metaheuristic algorithm-based approach like Ant Colony Optimization are explored.