Designing and implementation of PID controller robotic arm

Abstract

Designing and controlling a robotic arm with great performance is one of the

fields of interest in many applications. This thesis is concerned with the

problems control of robot arm (mentor) using Proportional Integral Derivative

(PID) controller for axis1 (shoulder) and axis2 (elbow). The research work was

undertaken in the following developmental stages; first stage, estimation of the

transfer functions of Direct current (DC) motors actuators of tow axis’s using

system identification data driven control method depend on arduino Uno and

support package used to design simulinks in real time. Second stage, PID

Controller is designed by using MATLAB/SIMULINK and applied it to above

tow DC motors. Third stage, the simulation is performed to compare between

system before and after PID controller, this is done through the simulation on the

computer using MATLAB/SIMULINK. Fourth stage, implementing the PID

controller designed in second stage to tow axis of robot, and test the system in

real time to compares desired angle form and actual angle form response of DC motor.