For this particulate project, I was given a complete Simscape model of a 3R robot. My objective was to develop a controller that the manipulator could use to follow a given trajectory. 

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Once the trajectories of the end effector were developed, I calculated the joint angles for each joint using standard inverse kinematics formulas. For the manipulator control, I used a combination of a PID and a transpose Jacobian controller to control the robot's joint torques. Transpose Jacobian control is a popular method of controlling robotic systems and is less computationally intense than inverse Jacobian. The Simulink block diagram of the controller is shown in the image below.