Design and Simulation of PID Controller for Two Link Robotic Arm

K. Rajeswari; R. Saranya

doi:10.37591/joarb.v3i1.686

Abstract

This paper deals with the design of two link robot arm control methodology using PID controller. A two degree of freedom (2DOF) robotic arm is designed using a PID controller and simulated in MATLAB/SIMULINK platform. A good performance of a robot requires the consideration of efficient dynamic models and sophisticated control approaches. The dynamic model is derived from the general Lagrange equation. The simulation of two link manipulator (TLM) has been analyzed and dynamic behavior of robot arm is adjusted by the controller. The effectiveness of the proposed controller is demonstrated by performing the stimulations of the two link robotic manipulator.Keywords: PID controller, robot arm model, two degree-of-freedom, two-link manipulatorCite this ArticleRajeswari K, Saranya R. Design and Simulation of PID Controller for Two Link Robotic Arm. Journal of Advancements in Robotics. 2016; 3(1): 36–42p.