Motion Control Design and Analysis of UR5 Collaborative Robots Using Proportional Integral Derivative (PID) Method

摘要

Collaborative Robots is a type of industrial robot that can work side by side with humans in a workspace safely. UR5 is one type of collaborative robots. In its movement, collaborative robots UR5 requires a control system that aims to control the angular position of the joint robot so that it moves according to the desired setpoint. In this paper, the control design and motion analysis of collaborative robots UR5 is carried out using Proportional Integral Derivative (PID) method. PID parameters are tuned using Ziegler-Nichols tuning method with a value of <tex>$Kp=3.804,\ Ki=1.586$</tex>, and <tex>$Kd=2.28$</tex><inf>,</inf> with the result that the end effector angle position response has a settling time value of 0.310 seconds and a steady state error is 0&#x0025;.