Research Article Open Access

Numerical Investigation of an Industrial Robot Arm Control Problem Using Haar Wavelet Series

S. Nandhakumar1, V. Selladurai2 and S. Sekar3
  • 1 Angel College of Engineering and Technology, India
  • 2 Coimbatore Institute of Technology, India
  • 3 Anbanathapuram Vahaira Charities College, India


Problem statement: An error minimization in robot arm dynamics improves operations and performance of production systems. Many contributions have been made in area of robot dynamics since the earliest study more than two decades, but, a number of researchers are still contributing various principles and new techniques for the best use of robots in reality, especially in the field of industry, as this field of study is inexhaustible. This study attempted to analyze the performance of an industrial robot by comparing solutions obtained using RK method and Single-Term Haar Wavelet Series (STHWS) method. Exact solution of system of equations representing arm model of a robot had been compared with corresponding discrete solution at different time intervals. Absolute error between exact and discrete solutions had also been determined to suggest the method of improving performance of a robot. Approach: Haar wavelet had been applied extensively for signal processing in communications and proved to be a useful mathematical tool for dynamical systems. In this study, STWHS method had been used for solving differential equations. Result had been obtained and compared with exact solutions. Results: Error had been compared by exact solutions, RK and STHWS solutions were reported for non-singular systems and estimated as almost zero. The validation had been carried out with reference to earlier research output appeared in this field of study. Conclusion/Recommendations: For robot arm model selected for study, solution obtained by STHWS was found to be accurate from results.

American Journal of Engineering and Applied Sciences
Volume 2 No. 4, 2009, 584-589


Submitted On: 16 April 2009 Published On: 31 December 2009

How to Cite: Nandhakumar, S., Selladurai, V. & Sekar, S. (2009). Numerical Investigation of an Industrial Robot Arm Control Problem Using Haar Wavelet Series. American Journal of Engineering and Applied Sciences, 2(4), 584-589.

  • 16 Citations



  • Robot dynamics
  • Runge-Kutta methods
  • single-term Haar wavelet series
  • non-singular systems