Kamal  M.H. Raheem, Ameer  Najm Najaf, 
    Simulation 3-DOF RRR Robotic Manipulator under PID Controller,
    Journal of Engineering and Applied Sciences,
    Volume 15,Issue 2,
    2020,
    Pages 410-414,
    ISSN 1816-949x,
    jeasci.2020.410.414,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2020.410.414)
    Abstract: A robotics manipulator system is a multi-link mechanical system each link is driven by an electrical
actuator individually. Most industry application uses robotics system, this system needs to be controlled
efficiently. In this study, 3-DOF serial robotic manipulator is simulated with a PID controller by using
MATLAB\Simulink. The PID controller is proposed for every single manipulator where each manipulator is
controlled independently. The performance of the 3-DOF robotic arm for trajectory tracking studies under this
controller with different trajectory and without/with external disturbance torque.
    Keywords: Robot arm;robotics manipulator;3-DOF;PID;MIMO PID controller;torque