A KIND OF VAPID CONTROLLER USED IN THE SERVO SYSTEM OF POURING ROBOT

In this paper a new Relay like VAPID (PID controller with Variable Arguments) algorithm is presented according to the drawbacks of traditional VAPID. Then, It is used as a controller to the pouring robot servo system with decoupled model. Satisfied results with high specification are obtained by simulating, and then it is tried in actual robot arm servo system.