Industrial PID Control Simulator
Correlating Mathematics with Robotic Motion
Robotic Arm Angle Control
Theoretical: τ(t) = Kpe(t) + Ki ∫ e(t)dt + Kd (de/dt)
Measured Torque =
0.00 +
0.00 +
0.00 =
0.00
How to hit the target:
1. Set Target to 0° (Horizontal).
2. Increase Kp until the arm moves (it will bounce).
3. Increase Kd to stop the bouncing.
4. Notice it hangs below 0°. Increase Ki to give it the "muscle" to lift its own weight to 0°.
1. Set Target to 0° (Horizontal).
2. Increase Kp until the arm moves (it will bounce).
3. Increase Kd to stop the bouncing.
4. Notice it hangs below 0°. Increase Ki to give it the "muscle" to lift its own weight to 0°.