- https://www.mathworks.com/company/newsletters/articles/teaching-robotic-control-concepts-with-a-robotic-arm-an-arduino-microcontroller-and-simulink.html
- https://www.mathworks.com/videos/developing-multivariable-control-systems-for-robotics-81954.html
- https://www.mathworks.com/help/control/ug/multi-loop-pid-control-of-a-robot-arm.html
- https://www.mathworks.com/matlabcentral/fileexchange/27293-force-position-control-of-a-robot-manipulator-using-pid-controller
- https://www.mathworks.com/matlabcentral/fileexchange/71509-robot-arm?s_tid=FX_rc3_behav
Robot arm PD controller code
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Hello,
I'm learning about PD controllers for robotic arms in joint space. So far I have written a script with the paths for one axe (q,q´,q´´). This is the image for my loop which I want to code:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/866060/image.png)
Its my first time using matlab to write a loop, so I have no idea where to begin. I have some conditions to fill:
-Loop update rate is 4 ms
-Robot dynamics block updadte rate is 20 ms.
Please, I need a hint to begin with this.
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回答 (1 件)
Kartik Saxena
2024 年 1 月 17 日
Hi,
Here are a few resources which might be helpful for this purpose.
Since you are new to MATLAB, these resources would provide with end to end solution and relvant information starting from basics.
Here is a link to a MATLAB answer which is a bit similar to yours and might provide some insights:
I hope this resolves your issue.
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