e-ISSN 2231-8542
ISSN 1511-3701

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The Effect of Varying PID Gains on Position Transient Response of a Robotic Hand System

Salleh, N. M., Shauri, R. L. A., Nasir, K., Remeli, N. H. and Kamal, M. M.

Pertanika Journal of Tropical Agricultural Science, Volume 25, Issue S, July 2017

Keywords: PID control, PID parameter tuning, position control, transient response, real-time experiment

Published on: 28 Feb 2018

In an earlier study, a three-fingered robot hand was developed for assembly work. Proportional Integral Derivative (PID) control was used to control the position of a DC micromotor measured by an encoder. However, PID control alone could not cater the nonlinearities due to friction of gears and varying loads applied to the finger. Therefore, in order to develop an intelligent control algorithm in future, the effects of varying PID gains need to be investigated to distinguish the optimal value that could produce the best transient response performance. This paper discusses the effect of varying PID gains on position transient response of the joint motor of robot hand through real-time experiments. Several ranges of KP, KI and KD were identified based on the required transient response parameters such as percentage overshoot (%OS), settling time (TS) of within 2%, steady state error (SSE) and rise time (TR). The gains are tuned across the range by a fixed interval with the tuning order starting from KP, KI and KD. It can be observed that the suitable ranges of PID are 0.3 to 0.5 for KP, 1.15 to 1.45 for KI and 0.10 to 0.14 for KD. Meanwhile, the optimum value of 0.4, 1.45 and 0.10 for KP, KI and KD respectively is found to produce 0 of % OS, 5.09 sec of TS and 2.48 sec of TR. Hence, the gains can be applied to the development of an improved position control using intelligent method for the robot hand in future works.

ISSN 1511-3701

e-ISSN 2231-8542

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