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

Abstract

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