Haarwavelet approach to singular system time invariant model robot arm control problem

This paper aims to estimate the error in the control of a robot arm model by analyzing dynamics of the robot arm. The dynamics of robot arm has represented in the form of second order differential equation. A meticulous attempt has been made to estimate the error by comparing the solutions obtained using Single Term Walsh Series (STWS) and Single-Term Haar Wavelet Series (STHWS) method. The exact solution 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 which improves the performance of a robot. The validation has also been carried out with reference to the earlier research output appeared in this field of study.