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An Error Minimization In Industrial Robot Arm Performance Using Haar Wavelet Series

S. Nandhakumar, H. Ganesan, Dr. V. Selladurai, Dr. G. Mohan Kumar


This paper attempts to analyze the performance of an industrial robot by comparing the solutions obtained using RK method and Single-Term Haar wavelet series (STHWS) method. The exact solution of the system of equations representing the arm model of a robot, has been compared with the corresponding discrete solution at different time intervals. The absolute error between the exact and discrete solutions has also been determined in order to suggest the method of improving the performance of a robot. The validation has been carried out with reference to the earlier research output appeared in this field of study.


Robot dynamics, Runge-Kutta methods, Sngle- Term Haar Wavelet Series, Singular and Non-singular systems.

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