Abstract— Robot manipulator are usually interact with the system, and in industrial activity is usually referred to as a gripper hand. Simulation technique is a method used to design and analyze the characteristic of kinematic motions of the robot manipulator gripper. A novel control architecture has been proposed using auto tune of Proportional, Integral and Derivative controller to improve the kinematic motion responses performance for robot manipulator gripper. By using the auto tuning of PID control is expected kinematic motion response of each joint robot arm achieve the best performance as small overshoot, and steady state within a short time accompanied by a small signal error. Advance through the process of tuning PID parameters obtained complete control amplifier at PID control is Kp = 0.7194, Ki = 8,306 and Kd = 0.0061 so that the best performance kinematic motion for robot arm gripper is achieved as desired by the user with a short rise time, small overshoot maximum, quick stability response and a very small signal error.