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Performance comparison between position controllers for a robotic arm manipulator

2025Comunicação em conferência Acesso aberto
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datacite.subject.fosCiências Sociais::Ciências da Educação
datacite.subject.fosCiências Sociais::Outras Ciências Sociais
datacite.subject.sdg04:Educação de Qualidade
dc.contributor.authorBraun, João A.
dc.contributor.authorChellal; Arezki Abderrahim
dc.contributor.authorLima, José
dc.contributor.authorPinto, Vítor
dc.contributor.authorPereira, Ana I.
dc.contributor.authorCosta; Paulo
dc.date.accessioned2026-03-03T15:40:19Z
dc.date.available2026-03-03T15:40:19Z
dc.date.issued2025
dc.description.abstractThis paper compares five PID controller architectures for robotic manipulator position control, addressing the challenge of maintaining performance under varying inertial loads while providing accessible implementations for research and education. The five PID controller architectures for a three degrees-of-freedom SCARA manipulator position control are a basic Proportional-Derivative (PD), PD with Feed-Forward (FF), Parallel PD-PI-FF, Cascade PD-PI-FF, and Cascade PD-PI-FF with dead zone (DZ) compensation. The controllers were evaluated under varying inertial loads to assess robustness, extending beyond previous work's idealized conditions. Results show advanced configurations reduced errors by up to 64% compared to the baseline PD, with Parallel-FF achieving optimal dynamic performance and Cascade-FF-DZ excelling in steady-state control. The Feed-Forward addition enhanced tracking performance, while DZ compensation effectively eliminated limit cycles. The work provides open-source implementations and simulation environments, supporting research reproducibility and educational applications in robotics control.eng
dc.description.sponsorshipThis work was supported by national funds through FCT/M-CTES (PIDDAC): CeDRI, UIDB/05757/2020 (DOI: 10.54499/UIDB/05757/2020) and UIDP/05757/2020 (DOI: 10.54499/UIDB/05757/2020); SusTEC, LA/P/0007/2020 (DOI: 10.54499/LA/P/0007/2020). Arezki A. Chellal is grateful to the FCT Foundation for its support through the FCT PhD scholarship with reference UI/BD/154484/2022.
dc.identifier.citationBraun, João A.; Chellal; Arezki Abderrahim; Lima, José; Pinto, Vítor; Pereira, Ana I.; Costa, Paulo (2025). Performance comparison between position controllers for a robotic arm manipulator. In International Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual. Funchal, Portugal. p. 118-123. DOI: 10.1109/65809.2025.10970174
dc.identifier.doi10.1109/65809.2025.10970174
dc.identifier.urihttp://hdl.handle.net/10198/35929
dc.language.isoeng
dc.peerreviewedyes
dc.publisherIEEE
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
dc.relation.ispartof2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
dc.rights.urihttp://creativecommons.org/licenses/by-nd/4.0/
dc.subjectPosition controllers
dc.subjectScara
dc.subjectDead zone compensation
dc.subjectPid
dc.subjectControl theory
dc.subjectRobotic arm manipulator
dc.subjectEducation 4.0
dc.titlePerformance comparison between position controllers for a robotic arm manipulatoreng
dc.typeconference paper
dspace.entity.typePublication
oaire.awardNumberUIDP/05757/2020
oaire.awardNumberLA/P/0007/2020
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/LA%2FP%2F0007%2F2020/PT
oaire.citation.conferenceDate2025
oaire.citation.conferencePlaceFunchal, Portugal
oaire.citation.endPage123
oaire.citation.startPage118
oaire.citation.titleInternational Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameBraun
person.familyNameLima
person.familyNamePereira
person.givenNameJoão A.
person.givenNameJosé
person.givenNameAna I.
person.identifierR-000-8GD
person.identifier.ciencia-idBF13-D66B-7D08
person.identifier.ciencia-id6016-C902-86A9
person.identifier.ciencia-id0716-B7C2-93E4
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0001-7902-1207
person.identifier.orcid0000-0003-3803-2043
person.identifier.ridL-3370-2014
person.identifier.ridF-3168-2010
person.identifier.scopus-author-id57211244317
person.identifier.scopus-author-id55851941311
person.identifier.scopus-author-id15071961600
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
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