ZIEGLER-NICHOLS PID CONTROLLER FOR EFFECTIVE PAY-LOAD TORQUE RESPONSES AND TIP-VIBRATIONS OF DOUBLE LINK MANIPULATOR

Lelin Kumar.V, Balasubbareddy.M, Madhu.T

Abstract: Robotic Technology is an imitation for human being’s. It is an electro mechanical modelling objects are important aspect of manipulator. A Manipulator is a machine able to drive the robot. This paper describes and investigates on effective pay-load torque responses, tip-vibrations. This paper presents modelling and simulation of the double link manipulator using the proposed PID Controller. Here the proposed Ziegler-Nichols proportional–integral–derivative controller (PID controller) initiates more advantageous in the view of better performance and flexible operation of manipulator. First, the electro mechanical object was modeled and simulated using State space technique. Here the torque responses and end tip vibrations are assigned by state space variables. The entire two link manipulator topology was investigated and modeled, simulated. The proposed control strategy carries a back –back feed forward controller can be used for flexible operation of manipulator. Here, the simulation was done by using M-File Technique in Control tool box of MATLAB.

Keywords: Double Link Manipulator, Ziegler-Nichols PID Controller, Pay-Load Torque Responses, Tip-Vibrations, State space technique, back –back feed forward controller

DOI: https://doi.org/10.15623/ijret.2013.0210064