Controlling the Motion of a Planar 3-DOF Manipulator Using PID Controllers

Abstract

This paper mainly presents a method to model the 3-DOF manipulator with PID controller in Matlab-SimMechanics and the way to find out optimal parameters in the PID controller including: proportional gain, integral gain and derivative gain using the genetic algorithm (GA). For that aim, the 3-DOF manipulator will be simulated in order to perform a given task. The results achieved from the model show that difficulties in tuning parameters of PID controller can be solved using GA, while SimMechanics is considered as a good virtual experiment tool for simulating an arbitrary mechanism.

Keywords

• Manipulator
• GA
• SimMechanics
• parameters
• PID controller