A Study on the Position Control of KED-1 Robot Manipulator using PID Self-Tuning Controller

PID 자기동조기를 이용한 KED-1 로보트 매니플레이터의 위치 제어

This paper concerned about a study on the position control of KED-1 robot manipulator using PID self-tuning controller. For two joint manipulator KED-1, KED-1 manipulator is translated into kinematics to control each joints in joint space seheme. Angle displacements of joint coordinate are transformed into reference angle velocity of each subsystem through trajectory planning. Also, time sharing technique is used to control KED-1 manipulator. A series of simulation and experiment are performed for each joint in show the valid of proposed algorithm.