Position control of robot manipulator by torque equillibrium method

This paper presents position control of a two-link manipulator arm using a control technique employed only towards motor-side. Here the coupling effect between the motor and manipulator dynamics is considered as a disturbance signal. Proportional?integral?derivative (PID) (tuned by genetic algorithm (GA)) is designed to control the disturbances with some tolerance limit. Simulation results are presented which shows performance comparison of responses with and without disturbance signal.