Publication

Abstract : In this paper, a classical PID controller has been developed for a six-link, six-joint flexible robotic manipulator model. The flexibility has been given to the joint of the system model constructed in sim-mechanics environment. In the first stage, the simmechanics simulation results have been presented to ensure greater acceptability of the flexible model over the rigid joint-link manipulator. Finally, with the help of SISO design toolbox, a classical PID controller has been incorporated. Gains of the PID controller have been tuned using three methods and compared. Results corresponding to the optimized gains have been presented and discussed. KeywordsSerial Manipulator; Flexible Joints; Simmechanics; PID control; SISO design toolbox.