Kinematic modelling of three link robot manipulator and joint torque optimization using genetic algorithm in MATLAB

Neeta Sahay, Subrata Chattopadhyay


This research article presents the non-linear dynamic of a three-link robotic manipulator formulated by the Newton-Euler method. The planar manipulator is composed of three links and three revolute joints rotating about the z-axis. The three nonlinear non-homogeneous dynamic equations have been solved graphically with the help of MATLAB by phase variable method. The work represents the graphical solution of the transient response of angular position, and angular velocity of each link member for a predetermined interval of time. With the help of simulated value from MATLAB, torque characteristics have been determined for different torque ratios and optimum torque has been derived using a genetic algorithm to move the manipulator in a proper direction.


Genetic algorithm; MATLAB; Newton-Euler; Optimization; Three-link manipulator

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IAES International Journal of Robotics and Automation (IJRA)
ISSN 2089-4856, e-ISSN 2722-2586
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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