Feedback Control System of SCORA-ER14 Robot in SIMULINK Platform
نویسندگان
چکیده
In this paper the feedback control system of SCORA-ER14 robot is implemented using SIMULINK environment in MATLAB. The control structure of a SCORA-ER14 robot is like any other SCARA type robot, which is essentially independent joint control. Here the feedback from the output side of the each individual Axes is taken and the entire control scheme is governed by PID control law. The parameters of proportional, integral and derivative gains are properly tuned to achieve stable performance by the robot. The control system is also tested using different signals like step and ramp as input. Keywords— SCARA Robot, SCORA-ER14, Control, Feedback, PID, SIMULINK.
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