A Robust Controller of Multi DOF-Cooperating Planar Robotic Manipulators Using a Tuned PID Approach
Bibliographic record
Abstract
Usually, a dynamic system with impact conditions is an interesting problem with practical applications in the fields of dynamics, vibrations, and control. One difficulty in controlling robotics (i.e., a multi DOF two-cooperating or two-link planar) is the subject to impact between the end-effectors of manipulators is that the dynamics (i.e., equations of motion) are different when the system status changes suddenly from a non-contact state to a contact state. In this paper, a Tuned PID controller with different design scenarios is developed to regulate the states of two dynamic systems that collide. Further, in this work, three types of errors are used to compare among different cases that are; (1) the steady state error, (2) the root mean square error, and (3) the final value error. The results of the Tuned PID controller are compared to those obtained by a classical PID controller. The PID controller is tuned using the Ziegler–Nicholas approach. The simulation results of the robotic manipulators confirmed the theoretical effectiveness of the proposed controller, based on MATLAB/Simulink. Unlike the classical PID results (i.e., the impact-induced force is found to be 2.0 N), the Tuned PID controller successfully determined the impact-induced force as same as the desired force (i.e., 0.6 N). Moreover, the Tuned PID satisfied all other desired design values.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".