Enhancing Human-Robot Interaction through PID Control and Sensor Integration

摘要

The study in this research investigates the application of a PID controller for achieving precise control of a robotic arm, with a focus on emulating human-like motions. The results demonstrate the successful generation of accurate joint angles during arm motion, showcasing the effectiveness of PID control in determining correct angles for seamless joint movements. The PID controller’s mechanism, evaluating the variance between desired and observed positions, ensures minimal deviation, leading to error-free arm motions marked by smoothness and precision. The robotic arm, developed in our laboratory, integrates the PID controller for controlled motion, offering a user-friendly and efficient system. Notably, the study extends the application of PID control by integrating an MPU9250 sensor onto an individual’s hand, enhancing the interaction between the robotic arm and the user. This integration enables real-time motion tracking and feedback, allowing the robotic arm to respond accurately to the user’s gestures and movements. The PID-controlled robotic arm not only excels in accuracy but also demonstrates real-time adjustability, adaptability, and stability, showcasing its versatility for potential applications in diverse fields. This research lays a foundation for advancing PID-controlled robotic systems, emphasizing precision, adaptability, and intuitive operation, with implications for industrial automation, medical assistance, and interactive human-robot collaboration.