CONTROL FOR ROBOTIC MANIPULATORS WITH PROPORTIONAL INTEGRAL DERIVATIVE & COMPUTED TORQUE CONTROL

Inspite of long years of research, problem of manipulator path tracking control is the thrust area for researchers to work upon. Non-linear systems like manipulator are multi-input-multi-output, non-linear and time variant complex problem. A number of different approaches presently followed for the control of manipulator vary from classical PID (Proportional Integral Derivative) to CTC (Computed Torque Control) control techniques. This paper presents design and implementation of PID and CTC controller for robotic manipulator. Comparative study of simulated results of conventional controllers, like PID and CTC are also shown. Tracking performance and error comparison graphs are presented to show the performance of the proposed controllers