Review for Computer-Aided Validation of Kinematic Models for a 3-Link Articulated Robot

Abstract

Building upon the foundational work presented in Dynamics of a 3-
Link Manipulator: A Computational Model, this study advances the
validation of kinematic models through the rigorous application of
the Lagrange formulation. A Python-based simulation framework
was developed to examine the dynamic behavior of a 3-link
articulated robotic manipulator by deriving joint torques from the
Lagrangian equations and comparing them with the kinematic
predictions obtained from the model. The validation process
evaluates kinematic consistency, torque computation, trajectory
tracking, energy consumption, and motion smoothness, thereby
extending verification beyond purely geometric accuracy. The
findings confirm that the Lagrange formulation provides a reliable
basis for validating kinematic models in simulation, offering a
stronger link between geometric correctness and dynamic
performance, and establishing a foundation for future studies in
adaptive and learning-based control of robotic manipulators.