Control of Bionic Robot Leg Performance with Proportional Integral and Derivative Controller

Abstract

False limbs are aids for people with disabilities who have not been able to make users move freely like normal people. In this study, the concept of PID control prosthetic limbs was developed with a robot function that resembles the function of the knee ankle joints. By using PID control that the motion of the robot leg can be controlled accurately. The PID parameters obtained for the knee are kp = 2, ki = 18 and kd = 0.5, while for the ankle that is kp = 1, ki = 1.5 and kd = 0.5. The performance of motion bionic robot leg is obtained with small overshoot signal, small error signal and quickly to achieve stable response are 3,432%, 3.69% and 0.877s respectively.