PID Controller Tuning Based on Measured Multi-Input Multi-Output
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Bandar on 12 Apr 2022
Commented: Sam Chak on 12 Apr 2022
I've designed position controller that allows me to control the position of the robot's end-effector. The inputs are the x_d,y_d,z_d and the outputs are x(t),y(t),z(t) and the sampling time is 1kHz. I'm struggling with tuning the PID controller for this project. I do have access to all toolboxes via my university. Is it possible to import all inputs and outputs and tune the PID controller possibly via GUI?
Sam Chak on 12 Apr 2022
If you want to control the position of the end-effector, don't you need to solve the inverse kinematics problem to find a vector of joint variables that produce a desired end-effector location?
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