Investigating the Performance of a Simple Robotic System Using PID Controller

Abstract

Theoretical studies have been carried out to find the performance of a simple robotic system by calculating the steady state error due to applications of PID controller for different types of input signals, such as unit step, unit Ramp and unit Parabolic. A programming using ‘C’ language has also been developed to find overall gain of the system for different values of frequency and hence to plot the frequency response of the same. Some numerical calculations have been done. Results have been tabulated, shown graphically and discussed. In this study, we have also, neglected the Coulomb force and the errors due to disturbance torque that appears in output shaft.