Robotic Arm PID Controller

Proportional-Integral-Derivative controller (PID) is a control loop feedback mechanism which provides stabilization within a system to accurately actuate and correctively control the system. While PID control systems are often thought to be used heavily in the engineering industry to control heavy machinery, there has been an expansion of uses in all aspects of life from thermostat temperature control to robotic surgical arms. Inspired by the accurate and precise control of surgical robotics, this project aims to examine the factors contributing to a desirable robotic system. A cursory look into the market for hobbyist to professional robotic arm shows a stark difference in capabilities and price tags. To bridge that difference, we will be deconstructing the mechanisms of robotics, designing and building a four DOF (degree of freedom) robotic arm, applying the principles of PID control to two of four joints, and exploring how to tune a PID controller to create a stable mid-level market robotic system.