Control and tracking of robotic manipulator using PID controller and hardware in Loop Simulation

Abstract

In this fast growing world, automation is one of the key area where engineers put their efforts to improve the comfort level of human. Industrial automation involves the use autonomous robots to do the hazardous tasks. Broadly industrial robots are categorized as Autonomous Unmanned Vehicles and manipulators. Manipulator is a device used to manipulate materials without direct contact mostly aims at replacing the human arm. The control of such manipulators requires position tracking by certain control strategy. The main aim of the control is to ensure that the robot will maintain a desired dynamic behavior. The robot manipulator control using PID controller has a great importance in the Industrial automation. PID control scheme is one of the most general control types and probably the most commonly used. It provides quick response, good control of system stability and low steady-state error. Here, a PID controller is designed so that it attempts to correct the error between a measured process variable and a desired set point by calculating the error and then outputting a corrective action that can adjust the process accordingly. This is illustrated using Hardware in the Loop Simulation for real time simulation.