Figure 2: Simulink model of robotic arm.
The "Controller" subsystem consists of six digital PI controllers (one per joint). Each PI
controller is implemented using the "2-DOF PID Controller" block from the Simulink
library (see PID Tuning for Setpoint Tracking vs. Disturbance Rejection example for
motivation). The control sample time is Ts=0.1 (10 Hz).
Multi-Loop PI Control of a Robotic Arm