IMPLEMENTATION OF A FRACTIONAL ORDER PID CONTROL IN A
ROBOT WITH 5 DEGREES OF FREEDOM
Author: Raziel Sánchez-Guarneros
Afiliación: Instituto Tecnológico de Apizaco, departamento de posgrado, Av Instituto Tecnológico s/n Conurbado Tzompantepec, 90300 Apizaco, Tlax. Co-author: Haydee Patricia Martínez-Hernández Afiliación: Instituto Tecnológico de Apizaco, departamento de posgrado, Av Instituto Tecnológico s/n Conurbado Tzompantepec, 90300 Apizaco, Tlax. Co-author: Raúl Cortés-Maldonado Afiliación: Instituto Tecnológico de Apizaco, departamento de posgrado, Av Instituto Tecnológico s/n Conurbado Tzompantepec, 90300 Apizaco, Tlax. Co-author: Ernesto Zambrano-Serrano. Afiliación: Universidad Autónoma de Nuevo León, Facultad de Ingeniería Mecánica y Eléctrica, San Nicolás de los Garza 66455, NL, México. This paper presents the implementación of a fractional order PID control in a robot with 5 degrees of freedom, leveraging the MATLAB Simulink tool and Solidworks software with the BCN3D Robot free code. The robot model was constructed in Solidworks using the BCN3D Robot code, enabling the generation of an accurate system model. Subsequently, the model was imported into Simulink for controller simulations and testing. The fractional order PID control was designed and tuned using techniques specific to fractional order controllers. These techniques take into account the fractional order parameters of the system and allow to obtain an adequate. Subsequently, tests and simulations were carried out to evaluate the performance of the controller in the 5 degrees of freedom robot. Metrics such as system stability, transient response, and trajectory followability were analyzed. The obtained results demonstrated significant improvements in the performance of the robot compared to an integer order controller. Notably, the fractional order PID control exhibited enhanced trajectory tracking accuracy and generated a smoother and more stable response from the system. In conclusion, this work shows the successful implementation of a fractional order PID control in a 5 degrees of freedom robot using Simulink tools from MATLAB and Solidworks with the free code BCN3D Robot. The results obtained support the effectiveness of this approach and open up new possibilities for the control of more precise and stable robotic systems. keywords: PID, Fractional order control, robotic manipulators, performance, modeling.
Method, system, and machine-readable storage medium having instructions stored therein for enabling access to a plurality of applications in a process control system based on a process plant operating mode