Analysis of Point-to-Point Robotic Arm Control using PID controller

摘要

Point-to-point robotic arm has been used in manufacturing industry to assist company in increasing its production rate. However, the biggest concern in robotic arm is the accuracy for the robot to complete the task of pick-and-place of an object which is dependent on the designed controller. This study investigates the accuracy of the 5 degrees of freedom (DOF) robotic arm model with PID controller. The forward kinematic is analysed systematically in order to determine the required movements for each of the robotic arm joint for its desired operations. The objective of this paper is to simulate the movements of the robotic arm with and without controller by utilizing MATLAB GUI, a microcontroller and servo motors in order to demonstrate the effectiveness of the system. Performance comparison of the robotic arm in completing the pick-and-place task with and without PID is presented in this paper. The preliminary results showed that the difference errors between the desired angular displacement of with and without controller are 0.65%, 3.61%, 10.74%, 82.18% and 44.44% for the five movements.