Robust Cohen-Coon PID Controller for Flexibility of Double Link Manipulator

Abstract

Robots are imitation for the present generation human beings. There is huge change in between robot and human beings where differentiated by their mind, intellectual capabilities. Generally Manipulator is an important parameter in robots construction and flexible operation, nothing but robotic arm. In this paper, we proposed a specially designed Controller for the flexible operation of the manipulator is nothing but "Cohen-Coon PID Controller". The proposed PID Controller drives to get flexibility in operation of double link manipulator. The entire topology has been studied, investigated, modeled and simulated on double link manipulator only. The overall simulation for test system can be carried out in control tool box of MAT Lab M-File Technique. Each link of double link manipulator was simulated by assigning the state variables in M-File. So that highly graphical facilitations are provided for showing the variation in tip-vibrations and pay-load torque responses for Theta_1 and Theta_2 of double link manipulator. However, the Proposed Robust PID Controller shows better performance rather than the normal conventional Closed Loop PID Controllers. © 2014 SERSC.