Abstract

Collaborative Robots is a type of industrial robot that can work side by side with humans in a workspace safely. UR5 is one type of collaborative robots. In its movement, collaborative robots UR5 requires a control system that aims to control the angular position of the joint robot so that it moves according to the desired setpoint. In this paper, the control design and motion analysis of collaborative robots UR5 is carried out using Proportional Integral Derivative (PID) method. PID parameters are tuned using Ziegler-Nichols tuning method with a value of Kp=3.804,\ Ki=1.586, and Kd=2.28, with the result that the end effector angle position response has a settling time value of 0.310 seconds and a steady state error is 0%.

Original languageEnglish
Title of host publication2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages157-161
Number of pages5
ISBN (Electronic)9781665499699
DOIs
Publication statusPublished - 2021
Event2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Surabya, Indonesia
Duration: 8 Dec 20219 Dec 2021

Publication series

Name2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Proceeding

Conference

Conference2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021
Country/TerritoryIndonesia
CitySurabya
Period8/12/219/12/21

Keywords

  • Proportional Integral Derivative (PID)
  • collaborative robots UR5
  • control design
  • ziegler-nichols

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