Comparative Analysis of the Performance of Existing Proportional Controlled Flexible Joint Robotic Manipulator with Proportional- Integral-Derivative Controller Technique

This paper presents the analysis of Flexible Joint Robotic Manipulator using the Existing Proportional Controller and Proportional Integral Derivative Controller Techniques. In order to achieve an adequate controller that can improve the trajectory tracking performance and stability of the Flexible Joint Robotic system two methods were applied: the existing Proportional controller and Proportional- Integral-Derivative (PID) control methods. The existing proportional controlled flexible joint model and the PID controlled FJR model were analyzed based on performance and stability. From the results existing proportional FJR system recorded damping time and overshoot of infinity, a high tracking error of 145dB, gain margin of 22.8dB and very low phase margin of 3.21e-12deg showing that it is unstable. This means that the proportional controlled joint model suffers from poor tracking performance and it is unstable. The PID controlled FJR recorded a damping time of 0.0309 seconds, overshoot of 5.05%, tracking error of 3.57e-14dB, gain margin of 36.4dB and phase margin of 64.2deg. This means that the PID controlled FJR model achieved good stability, however the high overshoot indicates poor damping capability.