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LAB 2: PD AND PID JOINT CONTROL
DYNAMIC SIMULATION SIMULINK MODEL
In this lab, we demonstrate the result of position control of a CRS robot arm by implementing different controllers. The dynamic model has been established in MATLAB Simulink environment as shown above and PD controller is simulated with the simulation model. The simulation model comprises of the robot dynamics model which was derived using Euler-Lagragian formulation, the infinite average filter for finding velocity from noisy motor angle measurements (not required in simulation but when implementing on actual robot, it is necessary) and a control module where different control algorithms were implemented. The position control in the joint space is done using PD, PID and Feedforward controller on the actual CRS robot arm. Lastly, the end-effector trajectory tracking is conducted to demonstrate trajectory tracking performance of the controller
TRACKING A 'FUN' TRAJECTORY
The above video shows the implementation of a PD+feedforward controller on the CRS robot arm. The desired path that the robot is required to follow is a sinusoidal wave pattern both in the y and z coordinates with a fixed x coordinate. The controller clearly works well for such trajectories.