PID control of PUMA560 robot
The Dynamics of the robot are taken from:
Brian Armstrong, Oussama Khatib & Joel Burdick , “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm” , Stanford University, Artificial Intelligence Laboratory, IEEE 1986
Although Uncertainty is not added, adding uncertainty is easy (check the paper).
I couldn't find such a program in the internet, so I learned using the ODE function and I have written this program. It's opened for your advises.
I still have a small problem concerning the derivative and the integral error, perhaps I have to multiply and dicide by the time division.
Cite As
Abdel-Razzak (2024). PID control of PUMA560 robot (https://www.mathworks.com/matlabcentral/fileexchange/22017-pid-control-of-puma560-robot), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Platform Compatibility
Windows macOS LinuxCategories
- Control Systems > Control System Toolbox > Control System Design and Tuning > PID Controller Tuning >
- Engineering > Electrical and Computer Engineering > Robotics >
Tags
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!Discover Live Editor
Create scripts with code, output, and formatted text in a single executable document.