Numerical solution of second-order robot arm control problem using Runge–Kutta–Butcher algorithm

Abstract

The parameters governing the arm model of a second-order robot control problem are studied using the Runge–Kutta–Butcher (RK–Butcher) algorithm. The exact solution of the system of equations representing the arm model of a robot are compared with the corresponding discrete solutions (approximate solutions) at different time intervals using the RK–Butcher algorithm. The absolute error between the exact and discrete solutions is also determined. A detailed well-composed comparison is carried out using the results and graphs obtained.

Keywords:

• Runge–Kutta method
• Arithmetic mean
• RK–Butcher algorithm
• Ordinary differential equations
• Robot arm model