Position Control and Trajectory Planning of 3-DOF Arm Manipulator for Test Tube Handling

Robotics is a technology that grows rapidly in this 4.0 Industrial Revolution. Robotics application in the medical field refers to the high demand from the medical world for robotics technology, where on that is also needed is to handle a test tube for laboratory use. Trajectory planning on an arm manipulator with 3 Degrees of Freedom (DOF) and parallel link mechanism is a method that will be designed in this paper with the aim of moving a test tube from a test tube rack to another rack. The test will be carried out by giving 8 coordinate points as a position reference of the trajectory planning movement. As for the test results, the average error on the x-axis, y-axis, and z-axis are 1.04 cm, 0.73 cm, and 0.8 cm respectively. So, it can be concluded that the average position error between the reference position and actual position while the arm manipulator executes the trajectory is 0.85 cm.