  This paper aims to design an optimal stability controller for a point to
point trajectory tracking 3 degree of freedom articulated manipulator. The DH
convention is used to obtain the forward and inverse kinematics of the
manipulator. The manipulator dynamics are formulated using the Lagrange Euler
method to obtain a nonlinear system. The complicated nonlinear equations
obtained are then linearized in order to implement the optimal LQR. The
simulations are performed in MATLAB and Simulink and the optimal controllers
performance is tested for various conditions and the results are presented. The
results obtained prove the superiority of LQR over conventional PID control.
