Research on Control of Two Link Flexible Joint Manipulators with Improved PID Method

摘要

To realize the tracking control of joint manipulator trajectory, an improved PID control method is presented in this paper. This paper also introduces the system structure of Selective Compliance Assembly Robot Arm (SCARA), and gives dynamic modeling of two link flexible joint manipulator in detail. By using Matlab/Simulink, and preparation of an S function based on the S-function module, the manipulator system can be simulated. The results of the simulation indicate that the modified PID control method is very effective for trajectory tracking control of mechanical arm.