Robot arm PD controller code
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Hello,
I'm learning about PD controllers for robotic arms in joint space. So far I have written a script with the paths for one axe (q,q´,q´´). This is the image for my loop which I want to code:
Its my first time using matlab to write a loop, so I have no idea where to begin. I have some conditions to fill:
-Loop update rate is 4 ms
-Robot dynamics block updadte rate is 20 ms.
Please, I need a hint to begin with this.
回答（1 个）
Kartik Saxena
2024-1-17
0 个投票
Hi,
Here are a few resources which might be helpful for this purpose.
- https://www.mathworks.com/company/newsletters/articles/teaching-robotic-control-concepts-with-a-robotic-arm-an-arduino-microcontroller-and-simulink.html
- https://www.mathworks.com/videos/developing-multivariable-control-systems-for-robotics-81954.html
- https://www.mathworks.com/help/control/ug/multi-loop-pid-control-of-a-robot-arm.html
- https://www.mathworks.com/matlabcentral/fileexchange/27293-force-position-control-of-a-robot-manipulator-using-pid-controller
- https://www.mathworks.com/matlabcentral/fileexchange/71509-robot-arm?s_tid=FX_rc3_behav
Since you are new to MATLAB, these resources would provide with end to end solution and relvant information starting from basics.
Here is a link to a MATLAB answer which is a bit similar to yours and might provide some insights:
I hope this resolves your issue.
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