Modeling and Controlling the Actuator Joint Angle Position on the Robot Arm Base Using Discrete PID Algorithm
DC motor is a motor that is easy to apply. Its application in robotic DC motor control often occurs errors due to the existing load, so that the DC motor becomes inaccurate. The control used is PID (proportional integral differential). This PID control system works by processing calculations based on the control variables Kp, Ki, and Kd to achieve the conditions according to the expected setpoint. To make a DC motor position control device can be controlled with a PID controller. In practice, the variable to be controlled in this research is position control in the form of degrees. With the Arduino Mega controller, the motor driver as a DC motor rotation controller, the DC motor is given feedback in the form of an encoder sensor, the software used is the Arduino IDE. The results showed that PID control can correct errors and transient responses with a time constant value of 1.50 seconds, a rise time of 1.60 seconds, a settling time of 2.30 seconds and a delay time of 1.20 seconds and a peak time of 1.6 seconds and an error value of 0.33% through tuning parameter Kp = 16 Ki = 0.001 Kd = 16.
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution-ShareAlike International License (CC-BY-SA 4.0) that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
Copyright without Restrictions
The journal allows the author(s) to hold the copyright without restrictions and will retain publishing rights without restrictions.
The submitted papers are assumed to contain no proprietary material unprotected by patent or patent application; responsibility for technical content and for protection of proprietary material rests solely with the author(s) and their organizations and is not the responsibility of the ULTIMA Computing or its Editorial Staff. The main (first/corresponding) author is responsible for ensuring that the article has been seen and approved by all the other authors. It is the responsibility of the author to obtain all necessary copyright release permissions for the use of any copyrighted materials in the manuscript prior to the submission.