2-DOF PID with reset controller for 4-DOF robot arm manipulator

Abstract

Robotic arms is one of the most important issues in the field of robotics in which has numerous applications, particularly in industrial robots and due to their complex nonlinear dynamics, applying an appropriate control methods will be necessary. Meanwhile, the utilization of nonlinear control methods in these systems, due to the complexity of regulation and implementation will be so much difficult. In this paper, robot arm model with four degrees of freedom (4-DOF) is considered and in order to control the angle of robot joints, the simple linear control methods are proposed. For this purpose, two degree of freedom PID (2-DOF PID) controller is applied to control the joint angles of robot arm and in order to improve the response speed and reduce overshoot, reset control scheme is derived. The Simulation results show that the proposed method is useful for improving the control of a robot arm.