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Hardware realization and PID control of multi-degree of freedom articulated robotic arm

Ali Ajwad, Syed; Iqbal, Usama; Iqbal, Jamshed


Syed Ali Ajwad

Usama Iqbal


A robotic manipulator is the most important component in an industrial environment for autonomous execution of tasks. Given the repoted fact that a PID (Proportional-Integral-Derivative) will continue to be the main workhorse in the automation sector, the present paper deals with designing and realizing this control law. A custom-developed pseudo-industrial platform AUTAREP (AUTonomous Articulated Robotic Educational Platform) centered on a 6DOF (Six Degree of Freedom) manipulator is considered. The derived kinematic and dynamic models of the arm form the basis of MATLAB-based control simulation. The control law after discretization is also implemented on embedded hardware. When subject to various inputs, result of trajectory tracking in the form of output responses, demonstrate superior performance in transient as well as steady state. The stability and convergent behavior of the outputs is also observed, thus highlighting efficacy of proposed approach.


Ali Ajwad, S., Iqbal, U., & Iqbal, J. (2010). Hardware realization and PID control of multi-degree of freedom articulated robotic arm. Mehran University Research Journal of Engineering and Technology, 29(4),

Journal Article Type Article
Acceptance Date Mar 1, 2010
Publication Date 2010-10
Deposit Date Sep 15, 2021
Publicly Available Date Mar 7, 2022
Print ISSN 0254-7821
Publisher Mehran University of Engineering and Technology
Peer Reviewed Peer Reviewed
Volume 29
Issue 4
Keywords Robot control, PID, Serial robotic arm
Public URL
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