Robotics and its applications have become increasingly important in the field of manufacturing industry. Robot manipulators are effectively used for this purpose. Control of manipulators is very important, however, highly nonlinear and multi-input multi-output (MIMO) complex structure of manipulators make the control difficult. This paper presents two-degree of freedom PID controller scheme for a six-degree of freedom rigid robotic manipulator. Traditional PID controllers are widely used due to their simple control structure and ease of implementation in industry. However load disturbances and parametric variation affect the robustness of the controller. The performance of proposed two-degree of freedom PID controller is compared with the traditional PID controllers. Matlab-Simulink program is used for real-time implementation of the proposed method. Experimental results show that two-degree of freedom PID control is better than the traditional PID for manipulator control in real time.
[1]
Recep Kozan,et al.
Real Time Visual Servoing of a 6-DOF Robotic Arm using Fuzzy-PID Controller
,
2015
.
[2]
Richa Sharma,et al.
Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.
,
2015,
ISA transactions.
[3]
V. Alfaro,et al.
Considerations on Set-Point Weight choice for 2-DoF PID Controllers
,
2009
.
[4]
Ramon Vilanova,et al.
Robust tuning of Two-Degree-of-Freedom (2-DoF) PI/PID based cascade control systems
,
2009
.
[5]
I Thirunavukkarasu,et al.
Design and Implementation of Two-Degree-of-Freedom Nonlinear PID Controller for a Nonlinear Process
,
2014
.