Efficient Position Control for 3-DOF Industrial Robot Manipulator

This study offers the design and implementation of a position control system for a 3-degree-of-freedom (3-DOF) robotic arm, focusing on achieving high precision in end effector positioning within three-dimensional space. The research begins with the development of mathematical models to accurately describe the robot arm's dynamics, which informs the design and tuning of various control algorithms. Several control strategies are applied in this work, including Proportional, Integral, and Derivative (PID) control, PD control, H-infinity optimization, and a Computed Torque controller (CTC) comparing their effectiveness in achieving precise positioning. Our findings reveal that the Computed Torque controller significantly outperforms the other strategies, achieving a high accuracy of 99.97732%. In comparison, the PID and PD controllers yield an accuracy of 99.6362% and 99.821% respectively. Applying H-infinity optimization to the PID and PD controllers results in improved accuracy values of 99.746% and 99.44%. These results underscore the superiority of the Computed Torque controller in providing precise control of the end effector's position, demonstrating its potential for high-accuracy applications in robotic systems. This work contributes valuable insights into control methodologies for advanced robotic applications.