Publication: PID control of link manipulator
Loading...
Date
2024-07-12
Authors
Nur Nadia Amira binti Ahmad
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
The precision and accuracy of robotic manipulators are pivotal in enhancing industrial automation processes. This study focuses on optimizing the control of a 2-Degree of Freedom (DOF) link manipulator using a Proportional-Integral-Derivative (PID) controller. The motivation behind this research stems from the need to improve the performance and stability of link manipulators, which are integral to tasks requiring high precision in various industries. The primary objective is to analyse the effects of varying PID controller parameters on the system's performance metrics, including overshoot, steady-state error, and settling time.
A detailed simulation model of the 2-DOF link manipulator was developed using MATLAB Simulink and Simscape. The proportional gain (P) was kept constant, while the integral (I) and derivative (D) gains were varied independently to observe their impact on the manipulator's performance. The study's methodology involved conducting extensive simulations to evaluate the control strategies. Significant results revealed that higher integral gains reduced steady-state errors and improved system stability, while higher derivative gains minimized overshoot and reduced settling time. However, excessive gains led to oscillations, necessitating a balanced approach in tuning the PID parameters. The study concludes that an optimal combination of PID parameters can significantly enhance the control performance of the 2-DOF link manipulator, providing an effective solution for industrial applications.