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This paper aims to design an optimal stability controller for a point topoint trajectory tracking 3 degree of freedom articulated manipulator. The DHconvention is used to obtain the forward and inverse kinematics of themanipulator. The manipulator dynamics are formulated using the Lagrange Eulermethod to obtain a nonlinear system. The complicated nonlinear equationsobtained are then linearized in order to implement the optimal LQR. Thesimulations are performed in MATLAB and Simulink and the optimal controllersperformance is tested for various conditions and the results are presented. Theresults obtained prove the superiority of LQR over conventional PID control.

Modeling and Simulation of a Point to Point Spherical Articulated Manipulator using Optimal Control