Authors : Oscar Andres Otalora Castro, Jorge Luis Aroca Trujillo, Miguel Angel Tovar Cardozo and Ruthber Rodriguez Serrezuela
Abstract: At present, robotic arms are used in many applications, mostly in the field of industry. For fields such as the medical care area, a high precision control in robotics is used. Therefore, the control method that is applied to these systems is important. In this document, a four-degree freedom robotic robot was designed from solidwork. A Proportional-Integral-Derivative (PID) controller was applied based on its kinematics and dynamics found. Both the robot function and the response of the controller were tested. The process of controlling the robotic arm designed and simulated is obtained with MATLAB.
Oscar Andres Otalora Castro, Jorge Luis Aroca Trujillo, Miguel Angel Tovar Cardozo and Ruthber Rodriguez Serrezuela, 2019. Design and Construction of a Four-Degree Freedom Robot with PID Controller. Journal of Engineering and Applied Sciences, 14: 9583-9591.