Robust Control of a Robot Arm Using an Optimized PID Controller

Abstract

In this study, Scorbot ER-V Plus robot arm is drawn on SolidWorks environment. The 3D solid model of the robot arm is converted into SimMechanics form. The electric motor actuating the system is controlled by using a PID controller with a low pass filter. The controller parameters are optimized by using sinusoidal reference and external disturbances corresponding to total uncertainties including parameter variations and load torque. The inverse kinematic is used to obtain joint angels from determined trajectory. Desired trajectory is achieved by applying the obtained joint angles. The proposed optimized controller provides a robust control performance and the simulation results are presented in the paper.