PID control and physical verification based on manipulator dynamics model

As robotic technology advances, a variety of robotic arms have been developed to meet the needs of diverse industries. Robotic arms are products of highly integrated electronic and mechanical technologies, which are based on the interdependence of electronic technology, mechanical engineering, and automatic control technology. This paper, grounded in an understanding of the structural characteristics of robotic arms, employs the Lagrange dynamics method to derive the dynamic model of the robotic manipulator. It utilizes conventional PID control methods and optimizes the control effects by adjusting the PID parameters. To achieve optimal performance, simulation tests were conducted with various combinations of PID parameters to determine the most suitable settings for the dynamic response of the robotic arm. The effectiveness of the control strategy was validated through physical experiments on the actual robotic arm. The experimental results demonstrate that the designed PID controller significantly enhances the tracking performance and response speed of the robotic arm, maintaining high control precision and stability even when faced with external disturbances and dynamic load changes.