robotic arm

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Posts: 1
Joined: Mon Nov 20, 2017 1:57 pm

robotic arm

Postby robb » Mon Nov 20, 2017 3:27 pm

Hi to all. I'm new of Box2d and I try to use it in order to implent a robot arm with 3 dof (link ) and move it step by step changing the value of angles for each joint. In order to do this I used the pid controller used for inverted pendulum control examples and seems work well. The problem is that for some angles the behavior of the simulation is that of arms trembling. This i think depend on the choice of Kp Kd and Ki of the pid controller. there is a way in order to set Kp Ki and Kd as well as possible ? thanks

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