Simulation 3-DOF RRR Robotic Manipulator under PID Controller

Abstract

A robotics manipulator system is a multi-link mechanical system each link is driven by an electrical actuator individually. Most industry application uses robotics system, this system needs to be controlled efficiently. In this study, 3-DOF serial robotic manipulator is simulated with a PID controller by using MATLAB\Simulink. The PID controller is proposed for every single manipulator where each manipulator is controlled independently. The performance of the 3-DOF robotic arm for trajectory tracking studies under this controller with different trajectory and without/with external disturbance torque.