PROPORTIONAL-INTEGRAL-DERIVATIVE CONTROLLER FOR ARMED MANIPULATOR ROBOTS

In this paper, torque controlling for one, two, and three armed manipulator robots by proportional-integral-derivative (PID) controller methods with different payloads are proposed. By giving the initial and final conditions, we first directly solve the dynamical system to determine the state containing position and velocity. Secondly, the appropriate PID controller coefficients are determined. Thirdly, the optimal torque by using PID controller coefficients is computed. Then the related position and velocity trajectories based on initial and final conditions are derived. Simulation for 100 work examples with different payloads and a various number of arms are considered. Numerical results for different types of armed robots (R, RR, RRR) for different loads are given. The graphs for position, velocity and optimal torque trajectories for 15 work examples and different payloads are depicted.