TY - GEN
T1 - Motion Control Design and Analysis of UR5 Collaborative Robots Using Proportional Integral Derivative (PID) Method
AU - Wahyuningtri, Slati
AU - Adzkiya, Dieky
AU - Nurhadi, Hendro
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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%.
AB - 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%.
KW - Proportional Integral Derivative (PID)
KW - collaborative robots UR5
KW - control design
KW - ziegler-nichols
UR - http://www.scopus.com/inward/record.url?scp=85135086579&partnerID=8YFLogxK
U2 - 10.1109/ICAMIMIA54022.2021.9807805
DO - 10.1109/ICAMIMIA54022.2021.9807805
M3 - Conference contribution
AN - SCOPUS:85135086579
T3 - 2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Proceeding
SP - 157
EP - 161
BT - 2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Proceeding
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021
Y2 - 8 December 2021 through 9 December 2021
ER -