Position Control of 3R Manipulator using the PI Controller

The purpose of this paper is to study the
performance of the 3R manipulator arm using the PI
controller. The robotic arm is intended with 3 joints, 2
links, and 3 DC motors. PI controller is employed to get
the specified position of the robotic joints. In this
analysis, the link length of the robotic arm is calculated
to modifycarrying the will object weight. The position of
the robotic arms end effector is calculated with a
kinematic modeling technique that embraces forward
and inverses kinematic. The robotic toolbox is employed
to find the position of the robotic arm through forward
and inverse kinematics. The PI control technique is
employed for the correct position of the tip effector,
during this analysis, the gain of the PI controller is tuned
by the Autotuning technique. In this analysis, the output
position of the robotic arm is shown in MATLAB
simulation. Forward and the inverse kinematic result are
also shown in MATLAB graphical user interface.