Robot arm PD controller code

Hello,

I'm learning about PD controllers for robotic arms in joint space. So far I have written a script with the paths for one axe (q,q´,q´´). This is the image for my loop which I want to code:

Its my first time using matlab to write a loop, so I have no idea where to begin. I have some conditions to fill:

-Loop update rate is 4 ms

-Robot dynamics block updadte rate is 20 ms.

Please, I need a hint to begin with this.

Answer 1

[Kartik Saxena]

Hi,

Here are a few resources which might be helpful for this purpose.

• https://www.mathworks.com/company/newsletters/articles/teaching-robotic-control-concepts-with-a-robotic-arm-an-arduino-microcontroller-and-simulink.html
• https://www.mathworks.com/videos/developing-multivariable-control-systems-for-robotics-81954.html
• https://www.mathworks.com/help/control/ug/multi-loop-pid-control-of-a-robot-arm.html
• https://www.mathworks.com/matlabcentral/fileexchange/27293-force-position-control-of-a-robot-manipulator-using-pid-controller
• https://www.mathworks.com/matlabcentral/fileexchange/71509-robot-arm?s_tid=FX_rc3_behav

Since you are new to MATLAB, these resources would provide with end to end solution and relvant information starting from basics.

Here is a link to a MATLAB answer which is a bit similar to yours and might provide some insights:

https://www.mathworks.com/matlabcentral/answers/123112-simulink-help-pid-control-for-a-robot-arm

I hope this resolves your issue.