Accepted

Position angle analysis by learning algorithm on robotics is extremely important as a tool for predictive maintenance to detect faults and mechanical problems. This paper presents position angle analysis on passive joint using three rotations (3R) under-actuated robot manipulator. Experiment was conducted to predict the position angle which were applied to three joint; Active 1, Active 2 and Passive respectively. Experiment by SIMULINK software was carried out to validate the value of position angle obtained during real-time experiment. As a conclusion, the 3rd position angle of passive joint followed the position angle for Active 1 and Active 2